This is possible. The workflow starts as soon as a purchase booking is exported from Zenvoices. In addition, you can configure in Zenvoices that invoices are automatically blocked in AFAS. You can find this setting at Manage / Environment / Administrations / pencil icon to edit / AFAS.
Consult this article for more information about approving through the AFAS reviewer.
It is of course also possible to use the advanced Zenvoices authorization management module.