Usually yes, for light consumer telephoto lenses like the Sony 55-210mm or Canon 55-250mm, mounting the camera body directly to the tripod is normal and safe.

What matters is not just lens weight, but the torque on the mount: weight multiplied by how far the lens’s center of gravity sits from the mount. A short heavy lens can be less stressful than a lighter but much longer lens.

In practice, manufacturers generally account for this. If a lens is heavy or long enough that it should be tripod-mounted by the lens instead of the camera, it will typically include a tripod collar/foot. So lenses sold without a tripod mount are generally intended to be used safely with the camera attached to the tripod.

So for the examples you gave: no problem. For larger telephotos, use the lens’s tripod collar if provided, or add proper lens support if needed.