Yes, you can do just that:
IUnityContainer container = new UnityContainer();
container.RegisterType(typeof(IMyType<Car>), typeof(MyType1<Car>));
container.RegisterType(typeof(IMyType<>), typeof(MyType2<>));
IMyType<Car> car = container.Resolve<IMyType<Car>>();
IMyType<Bus> bus = container.Resolve<IMyType<Bus>>();
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