Is it possible to do oracle import util as non-dba user?

Yes , non-dba user can import/export files from his/her schema without any problem. But if it wants to import/export files to/from other schema it must have been granted IMP_FULL_DATABASE/EXP_FULL_DATABASE roles .

BUT, here I can see that you are trying to import dump file, which was exported by direct path. In this situation just DBA can import directly exported file.

You can temporarily grant DBA role to this user , import file and then revoke this privilege.

SQL> conn / as sysdba
Connected.
SQL> grant IMP_FULL_DATABASE to test;

I hope it was helpfull for you :)

Yes, it works fine to export and import under a non-DBA user. You'll still need a privileged login to create the destination user if it doesn't already exist.