I believe it’s possible in Cyberpunk 2077. Blunt weapons are non-fatal, other weapons can be modified to be non-fatal, stealth is usually an option, and you can even remotely disable enemies if your hacking skill is high enough.
There are sections you can’t do alone, so you might need to be proactive about neutralising enemies before your companion does.
Hey, in a setting like Night City, beating people unconscious to spare their life practically makes you a saint.
If you really want to ease your conscience, I don’t think they ever explain how non-lethal weapon mods work. You can head-cannon that your assault rifle is loaded with nanites that safely shut down enemy cyberware if you want.