Is it possible to set up USB HOST without VBUS and ID pins? Yes.
Is it possible to set up the Cube's USB HOST stack without those pins? I don't know, I don't use Cube. Maybe not by clicking in CubeMX, but it's certainly possible to find the places in that stack where these pins are used and modify them as needed - Cube is open source.
I would be surprised if Cube would do anything with ID beyond initializing the pin. Last time I checked (and I admit it was a couple of years ago) there was no OTG support in Cube, and HAL_HCD_Init() directly set OTG_GUSBCFG.FHMOD without further ado.
The OTG's dedicated VBUS pin is not needed for HOST at all, it's again an OTG feature.
UM1720 mentions a switch (notoriously called "charge pump") for the VBUS supply, that's a GPIO which may be switched on upon some action; again, I am not interested enough to dig deep.
JW