Yes you can, I think it's a little buggy, b/c it does the thing like if you fall off a cliff and die, but you have to fall from the right side of the cliff (so you have the least amount to fall) and you should be able to slide down the ramp again. It's a long trip, you'll have to go through the Nightbrother village again before you get back to the swamp. Also, watch out for bounty hunters in the swamp ...
I found to get the swamp to 100% there were areas in the upper level with a few force echoes (right around where the nightbrother gets snatched by the bat boss). There's some exploring to be done.
