RStudio Open Source is released under the AGPL license, and is free for commercial use, so the answer to this question is usually "yes"! You can read the full license here:
https://www.gnu.org/licenses/agpl-3.0.en.html
However, some organizations (Google, for example) do not allow AGPL software by policy.
Because different organizations have different stances to AGPL software, we always recommend checking with your organization's legal and IT teams before using RStudio.