For the most part yes. In fact "Endurance" or "Comfort" bikes have been raced successfully at the Pro Tour level. (Cervelo's R series bikes have been used to win Paris Roubaix)

For the most part the difference between the two types is the lenght of the head tube. The "endurance" bike is going to have a longer head tube, and naturally set up higher. You often can get to the exact same position however on it. Although for some people in some sizes, they may not be able to set it up with all the drop they want.

The other differences can include slightly different angles, length of chainstays, wheelbase, amount of trail, BB height, and will affect how the bike feels and handles. Howver, for the most part the differences are marginal, with more difference being marketing hype.