Yes
Correct me if im wrong but the SQ-1 doesnt have an arp, I think he is just step sequencing his modular on the right so he can add notes. You can also do this with the OT, no need to use the arp but if you wanted to stick with the arp you can also do it. In the arp menu you can shift notes around while playing live.
Alternatively you could also create multiple patterns with different sequences.