It's not clear from your question whether you intend to enter before or after your card is expired.
Either way, the answer is yes - but if your PR card is expired, you won't be able to do so by air.
It may be preferable (but not determinative) - in terms of likelihood of being reported - to enter before the card is expired.
Beyond that, the major question is if you will be 'reported' (i.e. process of revocation started, subject to appeal). Other threads cover this extensively, and there's no way to predict this - it will depend on a lot of factors, including how much out of compliance you are, whether you have H&C 'reasons' that convince, and how lenient or not a particular officer at port of entry may be - including taking into account whether covid has played a role in your non-compliance.
it is totally unpredictable - but you take your chances and make sure to have a rollback plan if they did not allow you to enter or report you for RO, but it will not be easy if you as an adult have expired PR and you exit without a convincing reason, I know some friends did it multiple times, but their family was in CANADA already, and they pass the gate with their own Car after lots of questions from immigration officers.
I will tell you my experience, MY PR And Wife was not expired, but my KIDs PR Was expired - and I left Canada with their expired PR because my father was very sick, and I can not wait to tell renewal of my KIDs PR - So i submitted an application for my KIDs PR Renewal and traveled back to my father, I spend 1 month with my father as he wanted to see the kids before he died when returning back to Canada, I can not go back by air because my KIDs PR expired, so I traveled to US NY, and had an internal flight to Buffalo, then I rented a Canadian plate CAR
and go through the Canada POE Niagra Falls, the officer outside told me you have expired PR, and let me inside to meet another Officer, he asked me some questions and proof that I submitted a renewal application for my KIDs, and they allowed us to enter normally
The question was
why you exit with expired PR?
Do you have a proof for submitting a renewal application for your kids?
what is your place of birth, me and my kids?
What is your date of Birth?
show us the landing papers
Good Luck for you and your family , Canada is a very good place to live , but you have to be very competent because jobs are not easy ,
