I have a prefab working on my project.
I uploaded it to a server (mime-type: application/binary) and downloaded it again, it still works on importing to the project, you can check it for yourselfs:
No, it’s not possible to get a prefab without using an AssetBundle. However, it’s certain that either A) the AssetBundle is much larger than it needs to be, or B) the prefab is much smaller than it needs to be. The .prefab file doesn’t include any assets (textures, animations, etc), but those are absolutely needed to function and they will almost always be much larger than the prefab. When it makes the AssetBundle, it includes those dependencies.
You’d have to handle importing the FBX file yourself. Which is possible, and I think I’ve seen a plugin before that can do that. I found this one with a quick search that may work.