It’’s possible in iPad OS 13, and I think was possible in iOS 12, (but I don’t have a device to check). To do it:
Do a spotlight search for the app in question.
Press on the app long enough so it does the little bounce, and immediately start dragging it. (If you get to the point of seeing the pop-up menu, you’ve taken too long. Just tap out of the menu and try again.)
While dragging the app, tap to “Cancel” the spotlight search. The apps should now be in rearrange mode and you should be able to drop it whereever you want.