Yes, just start a IP game on your own computer and assign all six characters if you want full control. However, I would recommend you to use only 4 PCs so you can do several side(sub)quest at once, and also some of the NPCs are decent at what they do (along with some "interesting" interactions). And if you are using dail-up connections, to avoid the trouble to dail-in everytime you want to play, just copy the save game from multi-player save to single player, everything should be fine as long as the directory names of save games follow the appropriate format.
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