Yes, if you have the Manager role or above, you can generate a new risk assessment yourself. To do this, open the location that is fully configured, go to the Structures tab, and on a structure card select Create risk assessment (or from the Risk Assessment dropdown choose Create new risk assessment if assessments exist). This opens the Create Visit panel where you set the date, assignees, and scope before creating the visit.
Only Managers or higher can complete the creation; Inspectors and Engineers can see the option but the platform will refuse creation when they try to confirm. Once created, you can manage the risk assessment from the location's Risk Assessment section. If you do not have these rights, a Manager or higher in your team can perform the creation for you.