Yes, you can.
The person who made the request, the folder administrator/sub-administrator, and users who can edit the relevant manual can all withdraw the request.
Please check the following online manual for the operation procedure:
▼Cancel manual approval request
Web Browser: https://teachme.jp/8/manuals/5846055
Mobile App: https://teachme.jp/8/manuals/5990016
Withdrawing the approval request will allow you to edit, duplicate, or move the manual to a different folder.