Does the 3CX FQDN provide DNS SRV records? If not, there shouldn't be any issues technically AFAIK.You can utilize the Direct SIP via SIP URI by enabling it in "Settings >> Network >> FQDN". Then, as Saqqara mentioned, edit the extension and go to Options, scroll down and add 0 in the SIP ID field.
Do bear in mind that Direct SIP is not exactly designed for this scenario and will potentially open the 3CX PBX to direct external calls. I suggest giving the following a read before proceeding: https://www.3cx.com/docs/direct-sip/
Founded in 2005, when VoIP was an emerging technology, 3CX has gone on to establish itself as a global leader in business communications.