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Not generally, no.
There is at least one (skilled) that specifically allows you to pick it more than once.
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Most selectable abilities (like feats and familiar abilities) in PF2 usually cannot be picked twice by default. When they can, there's also have something explicit allowing.
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Not generally, no.
There is at least one (skilled) that specifically allows you to pick it more than once.
Skilled is the only one the player is free to pick twice but specific familiars can cheat the system. A Ceru, for instance, has cantrip connection (guidance, mage hand).
I look at it this way:
One of my players wanted to select Spell Battery six times via Familiar Master upgrades. That would make them better than a Ring of Wizardry allowing for an additional 6 spells per day. To me that fell under the “too good to be true” application of rules. My only conclusion was that allowing that selection was not intended and therefore each ability (except Skilled as noted above) was only allowed to be taken once just like most feats.