Currently your deployments do support custom domains and yes this would be compatible with PKCE. You can have something like auth.mycompany.com provisioned and a user can bookmark this type of URL. In fact, I believe that your company already has a few of these types of URLs configured. So your customers would have to bookmark the full login path (something like http://auth.mycompany.com...authorize?client_id....redirect_uir...response_mode) and then they can login to the OAuth2 page that FusionAuth is hosting for login.
The real issue that you have here is related to PKCE.
Your app landing page is generating a PKCE challenge and PKCE verifier.
Your integration is then using these values to call the authorize endpoint uniquely each time
If a user bookmarks the values/URLs from step two above, they will have issues logging in (due to a PKCE failure)
All of this is in alignment with the OAuth Specification (the PKCE values should be unique each time that the authorize endpoint is called). The next question then becomes prevention of a user bookmarking the wrong link. To my mind, you could add some information to a customer portal or land page letting the customer know the correct page to bookmark. If the login fails, you may be able to redirect the user to the correct page (your page sees the failure and then determines the login landing page to send the user to) to login as well to recover the customer experience (in the case where the user have bookmarked the wrong link).
The alternative is to not to use PKCE, which introduces security considerations, especially if you are building on mobile.