"claude -p"

All of the main agent CLI's provides a demonstration that it is possible because they're all callable as a CLI. Several of them, like Codex, Kimi CLI, Pi, OpenCode are open source and so you could obviously strip out the MCP host and client from them and turn them into a CLI. Doing so in a way that keeps auth outside the agents sandbox is trickier and you might end up with a proxy which partly defeats the point but at least still keeps the composability of a CLI.