Yes. Download the official Android 4.1.2 firmware from Sammobile or Samfw and flash it via Odin. The process is identical.
The stock kernel included in the ROM is optimized. However, Dhollmen Kernel (if updated for Nougat) can improve USB-OTG and charging speed. Use with caution. download samsung tab 2 101 gtp5100 android 712 firmware best
If you prefer a more modern pixel-like interface, dotOS 1.2 is another excellent choice. It is slightly heavier but visually stunning. Download from the same XDA thread dedicated to GT-P5100. download samsung tab 2 101 gtp5100 android 712 firmware best