TMAG5273: Reading X, Y, and Z data in one go

I have been using the sparkfun library to read from this sensor (link). In this driver they read by giving the address to each the X, Y, and Z MSB and LSB registers separately. I was curious, given that all these registers lie in a row, if it would be possible from the TMAG5273 I2C handling for me to request 6 bytes from the start register (X axis MSB in this case).

Would this be equivalent? I think it would be faster for our purposes