Yes! You can load the Relay app on multiple phones and login using the same credentials for the associated Relay account. That will allow you to communicate with the one Relay device.
At this time, the limit of connecting Relay apps is set at 10 per Relay account (i.e. a Relay account can have 10 connecting Relay apps that are installed on either android or iOS phones)
For step-by-step instructions, see How to Connect Multiple Phones to a Single Relay
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