Can we fulfill a item demand on sales order by another item if I have a substitue?

Summary:

We are trying to fulfill a item and use substitute the item demand by sales order, is this possible?

Content (please ensure you mask any confidential information):

Item A has substitute Item B.

Item A has new sales order, can Item B be substitute item A for the sales order demand while shipping?

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Code Snippet (add any code snippets that support your topic, if applicable):