Yes! You can quickly switch between the first 9 subspaces in any app or space using keyboard shortcuts. Just press Cmd+1, Cmd+2, ..., up to Cmd+9 (or Ctrl+1 to Ctrl+9 on Windows/Linux).
To see which shortcut corresponds to each subspace, open the Subspaces menu from the app menu or hover over the subspaces in the subspace bar. The shortcut will be shown next to the name of the subspace.