DHCP or fixed IPs for servers ????

[linux guy]

I have a number of servers on our local network.  I have always set the IP
on my servers manually, ie disabled DHCP and assigned each one a unique
fixed IP.

Is there a practical way to assign an IP to a server automatically, ie with
DHCP and still have other computers find it on the network and have services
like port forwarding, firewalls, etc. work properly in routers ?

Thanks
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