Sure. After 1500 seems pretty easy, in fact. They were allies of France in the late 1600s, and Leopold I of Austria almost died in 1670, with only an infant daughter surviving.
Now, there were a variety of claimants who could have claimed the Austrian crown, but the only male was the 4YO king of Spain who could have gone at any moment himself and who many said it was a miracle he lived up to 1701 with the War of Spanish Succession happening when he died.
However, Maria Antonia (the aforementioned girl) and her mother the queen (because Spanish and Austrian Hapsburg relations were... well, intertwined) would be #1 and #2 most likely to claim the throne, and it seems like it'd be pretty through marriage or military might for Bavaria to take it in personal union.
Once that happens, it's not hard to imagine the Wittelsbachs slowly gaining control through marriage, etc. of of other thrones within Germa, and eventually wind up gaining the upper hands versus the Hohenzollerns.