Yes. Macintosh Personal File Sharing and Apple Remote Access Personal Server or Client can coexist on the same system without any problems. With this combination, access to files on your home or office computer is available from anywhere.
You cannot however, use the ARA MultiPort Server software concurrently with Personal File Sharing. The ARA MultiPort Server software uses the same Users & Groups file format as the AppleShare File Server, so Personal File Sharing is disabled. Also Apple Remote Access MultiPort Server is not compatible with AppleShare 3.0.x. AppleShare 4.0.1 and later are the correct AppleShare versions to use.
In addition, if the answering Macintosh is connected to an AppleTalk network, all the network resources like E-mail, file services, group calendars, host gateways, and so on (assuming the presence of network software and gateways needed) will be available. The only caveat is that the calling Macintosh must have the appropriate client software installed in order to use these services.