Yes, it is possible without Outlook or Adobe Acrobat. Many old MSG files do not open properly when the same Outlook setup is not available, so a separate MSG to PDF tool can make the process easier.
You may try WholeClear MSG to PDF Converter for this job. It can export MSG emails into PDF format without depending on Outlook or Adobe installation. It also keeps normal email details such as sender, subject, date, To, CC and BCC. Attachments are saved in a separate folder , so they can be checked along with the PDF files.
There is also a free demo, which is useful for testing a few MSG files before using the full version. My suggestion is to first convert a small sample and check the headers, formatting, and attachment output carefully.