Yes (sort of)! Especially if you are using clicks. You can set this up in PAMGuard with the array structure as you described and it can calculate bearings and bearing crosses for localization. From localizations to number of animals requires a tracking algorithm, P. Gruden has a few out.
EDIT: Here's a link to some of P. Gruden's publications with the Journal of the Acoustical Society of America (JASA).