Yes, this is possible with the limitation that it is not possible to run TwinCAT on a Windows/shared core but instead it is required that TwinCAT (and more specifically the unit-tests) are to be run
on an isolated core in the virtual machine.

Check the console output in Jenkins (skärmdump) if it provides any information. Also, try to build the project manually (by opening Visual Studio) on the build server and check if builds correctly.