I doubt it. By the time of Zama, the Carthaginian colonies in Hispania are ceded and with them has gone a large proportion of the Carthaginian war machine - the Republic was brilliant at continually producing new soldiers, and even with the loss of Scipio's army at 40,000 men, Rome has the ability to continue to prosecute a war.
The numidians are still to be contended with, though a complete destruction of Scipio's army leaves their position precarious. If the political will to prosecute the war disappears with Scipio's death, the Senate might accept status quo ante bellum while their attention is turned elsewhere, but Carthage herself was broken in the second war. One potential avenue runs like this:
The Senate, following the death of Scipio, elect a more conservative consul to fill his place, and cannot form a majority in favour of continuing to prosecute the war. Agreeing a white peace, the Carthaginians are left to make war on the numidians, and after a series of engagements the eastern numidians concede defeat, while the western numidians side with the Carthaginians and form a de facto vassal state. Between the gains made from the peace deal with the numidians, and the capture of goods and arms at Zama, Carthage is able to form a respectable military, which convinces Rome to look elsewhere for military campaigns, leading them into Illyria first.