Yes, you can have 'cask' conditioned beer at home, even without a cask. It's just naturally carbonated, unfiltered (living) beer. A cask is just a basic vessel that holds beer under pressure. Don't over think it. With floating dip tubes (e.g. CaskWidge floats) it's no longer necessary to set the vessel on its side at a slight angle. Many casks get tapped with a basic hammer-in tap rather than a beer engine. A beer engine is a nice-to-have but it's not essential. A bit like an engine on a rowing boat really. You'll still get there. In terms of beer line, if the beer is conditioned properly and at cellar temperature (a cool 11°C or so) a short length of tubing no smaller than 3/8 OD, a picnic tap and gravity works a treat. If consumption rate is an issue, which it is generally for home brewers, especially with an open vessel, i.e. exposing beer to air, transfer some beer to a smaller vessel and 'cask' condition overnight. The most basic ghetto hack is to use something like a 2L PET bottle. Here's a simple set-up with a soft spile to to let the beer condition until it's ready for serving.
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It's not really about the equipment, it's about something called 'cellarmanship'. Something most home brewers should be able to do quite easily.
