RPA.Salesforce Auth Types

The RPA.Salesforce Library is built off of GitHub - simple-salesforce/simple-salesforce: A very simple Salesforce.com REST API client for Python,

Within that library, there are several ways to gain access to Salesforce outside of Auth, like this:

from simple_salesforce import Salesforce
sf = Salesforce(instance_url='https://na1.salesforce.com', session_id='')

Would it be possible to leverage this functionality in the RPA.Salesforce library somehow?
Use-Case: Would like to be able to use an existing session ID where I am already logged into a SF instance via Partner/Subscriber Access (No Username or PWD available), in a Chrome browser, and then leverage the Salesforce RPA, instead of having to pick elements and build the automation manually.