Is there a way to recover photos and videos from Recently Deleted album under Utilities without a cloud backup?

In Recently Deleted, tap a photo or video, then tap Recover. To recover multiple photos, tap Select, select your photos or videos, then tap Recover.

If you're still missing photos, they may have been permanently deleted. They may also have been hidden or iCloud Photos isn't on: If you're missing photos or videos in the Photos app - Apple Support.

Jack

Recently Deleted is storing the photos at most for thirty days. If the photos are no longer in Recently Deleted, they have been deleted permanently and need to use your backups. If you are using iCloud Photos your iCloud backup of the iPhone will not suffice to recover deleted photos, as an iCloud backup will not include the photos, if iCloud Photos is enabled.

If you have deleted the images and don't have a back up then I'm afraid they are gone.

As you're so knowledgeable about them, why not try them and let us know the result and the cost. That information could be useful to others. Give back a little.