Yes. You do not need a ticket for darshan of Mallikarjuna Swami. You can have Sarva Darshan, also called the free queue.
In Sarva Darshan also, you can have darshan of Mallikarjuna Swami from a distance, similar to Seeghra Darshan and Athiseeghra Darshan. Touching the Shiva Lingam is not allowed.
Sarva Darshan is generally available during mostly the same timings as Seeghra Darshan and Athiseeghra Darshan. Timings may vary depending on temple arrangements and crowd conditions.