Can I F2P this game?
Depends on your focus.
In terms of collecting and raising your units, verily. This game runs on a shards system (which are farmable, with very few exceptions), so dupes are pretty much just a collateral instead of something to pull towards.
In terms of skins though, this is pretty much their main source of income. You can still get free skins and a limited amount of free skin currencies.
TLDR; Basically, yes.
What would I miss if I start now?
Pretty much vanity items only, nothing gameplay related.
Who should I reroll?
Given how viable most, if not all, launch dolls are to this day, your waifu/husbando.