That’s quite a score! I think the IRS Beta system is still one of the greatest speaker systems of all time, which is why I’m still using mine after all these years.
The answer to your question is: Yes and no. The midrange panels can be safely run directly from the amplifier outputs. The woofers were designed to work with the servo system and sound incredible when setup properly. That includes a proper functioning servo/xover as well as functioning control drivers - there’s one in each column. You can run the woofers without the servo and with a generic xover, but the results will be muddy and uncontrolled bass no matter what.
That leaves you a few options. One is to replace the woofer drivers with aftermarket. Unwise, imo. I think the best option is to either find a used servo (they are out there, if you’re patient) or have one built for you. There is a user in the Infinity Facebook group that has reverse engineered the servo and I think he’ll build you one for a price. Given that you got the speaker system for free, that could be quite the bargain.
The servo/xover is so critical to the proper performance of the IRS Beta system that many long-time users keep a spare.