Yes, sorta. If you look at the Control Pedal options, three pairs of the choices are Performance Up and Performance Down (PROG), plus the same for Patches and Favorites. Where you can have it either advance from one User P/Performance/F to the one that is next numerically.
However, it's a system setting, so it will only go UP or DOWN repeatedly, so you only get one shot at it. Or any number of sequential Patches/Performances/Favorites for that matter. If you need to toggle them you could make multiple USER copies in alternating order I suppose.
EDIT: Of course you also give up the use of the pedal for any other function unless you cange the System setting. So you can't use it for Expression or Leslie speed or anything. The HOLD pedal/jack still does it's thing. But it does only take a few seconds to change System settings.