Most likely, you will not be able to score 7 stars for the transition to Antiquity, if you have only an outpost, because you can not build districks and explore many technologies.

Since the Pic a culture thing pops up when you get enough stars in the neolithic era, it’s possible to go through the ancient era and just rely on scouts and ransacking to keep other layers in check while you completely avoid settlements. But you gotta understand that once you go into ancient era, your units will not be able to replenish or grow using food. So you will be up against a wall trying to get the three battle stars, at least one science star, and at least one economic star—as you have no means of getting the population stars, the influence stars(influence and food battle generation stops after Neolithic), and expansion stars. Relying on aggressive curiosity mining is still gonna leave you far behind in the 7 stars race. Granted: Science generation is saved as a stackable respurce between eras, so theoretically you can rush science stars in ancient era by waiting a real long time in the neolithic era by spending your time discovering the science curiosities.