I have baremetal server with only 32GB, which are insufficient for creating an OCP or an OKD cluster. Is it possible to make a cluster with the compute nodes on the control plane nodes, instead of creating another VM's for them. I know the existence of CRC, but is not suitable for me at the moment.
With 32GB what you are realistically looking for is "single node openshift". (Or the OKD equivalent.)
In OpenShift terminology a cluster where worker workloads run on the same nodes as the master workloads is usually called a "compact cluster". Although this is the direct question you ask (and is a supported configuration), you'd be looking at 24 GB for each master node, so 72 GB total, which is more than you have.
So you'd be looking at a single node running both worker and master workloads, typically called Single Node OpenShift (or SNO).