UD Agent upgrade automation if it was installed manually

Hello team,

Customer had installed UD Agent manually into specific folder(different from default folder) because infra team changes OS password periodically, and it's not allowed to keep Servers' OS user/password in UCMDB.

now, they are considering UCMDB Upgrade. in this situation, is it possible to upgrade UD Agent automatic(through inventory discovery) even though it was installed manually ?

Regadrs,

Eric