Yes, you can. My CRAPPS (https://github.com/vinsworldcom/crapps) script does just that - among many other things - for Cisco routers.
Essentially, you delay the reading of the config file to use until you read the host to connect to. When you get the hostname, you then look in your config directory for a "hostname.confg" file and open it for reading. Then simply issue the commands over the Telnet session.
If you provide some minimal code to show what you've done so far, we could be of more help.
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