Yes, a check can be made. No, there aren't rules regarding this (and I don't know of a skill feat that overcomes the language gap).
While a penalty seems right on the success end, it feels off that body language would also make the PC more likely to offend their interlocutor. (Of course body language could, but it seems no more likely than botched phrasing.) In the case of the Derro I think Society (Trained only) or an appropriate Lore would would suit the obstacle of "crossing the language barrier" after which one might attempt Diplomacy. But even so, one might do something basic like give food, gold, or the head of a Derro enemy. And one might say Diplomacy (as broad as PF2 skills are) would naturally entail adopting appropriate body language and facial cues that suit one's interlocutor. It's not a purely linguistic act, even if reliant on linguistics. Hmm.
Ultimately I'd defer to the narrative intent of the GM, and the agency of the players to shape that path. Is this a fruitful path to unlock unexpected story paths and relationships, or is it a speed bump between murder-hoboing?
Lots of situations are not covered by the game rules. The actions like Make an Impression are codified so you know you have access to them, always, and know how they work. But uncodified actions are used all the time. They are obviously up to the GM and even if the GM decides to take inspiration from Make an Impression it'll be ultimately a unique action with its own DC and constraints.