Short answer. Yes, but not by the minor simply being left out or signed for informally. The rule allows extrajudicial settlement where the heirs are all of age, or where the minors are represented by their judicial or legal representatives duly authorized for the purpose.
What the law says
the heirs are all of age, or the minors are represented by their judicial or legal representatives duly authorized for the purpose
Rule 74, Section 1 — Extrajudicial settlement by agreement between heirs. Read the full provision →
Minority is not an automatic bar
A common worry is that one young child forces the whole family into a court settlement. The rule does not say that. It opens the extrajudicial route to two situations, stated as alternatives: the heirs are all of age, or the minors are represented. So the presence of a minor heir changes how the settlement must be done rather than whether it can be done at all. What the rule will not accept is a settlement that simply proceeds as though the minor were not an heir, or one signed by whichever adult happens to have the child in their care.
The weight sits on 'duly authorized for the purpose'
The rule does not merely require a representative. It requires a judicial or legal representative who is duly authorized for the purpose. Those closing words are the operative ones and they are easy to skim past. Authority to care for a child day to day is not the same thing as authority to dispose of that child's share in an inheritance. A settlement is a disposition of property: it fixes what the minor receives and gives up any claim to the rest. The rule's language points to authority that reaches that specific act.
Why the drafting is strict here
An extrajudicial settlement works precisely because no judge reviews it. Adults are taken to be able to protect their own interests, and the rule's other safeguards — the bond, the publication, the two-year period for creditors — are aimed at outsiders rather than at the heirs themselves. A minor has none of that self-protection. Requiring authorised representation is what keeps the shortcut from becoming a way for the adult heirs to allocate a child's inheritance among themselves without anyone checking the result.
Where this leaves your family
The realistic questions are who may act for the minor and what authority that person needs to hold before signing. That turns on the child's circumstances and on the source of the representative's authority, which is why it is worth resolving before a deed is drawn rather than after it is registered. Note too that a defective settlement is not merely a technical problem: the same rule withholds binding effect from a person who did not participate, and the minor is the person most likely to raise that later. Ask a lawyer to look at the specific arrangement first.