Can insects have areas of skin that are not covered by a full exoskeleton layer? Or is the whole inside of their body pressurized where that would be impossible?

Are there any insects that have patches of epidermis or epithelium on their outer surface? Such as on joints that need to flex and bend? Or perhaps on larvae like caterpillars.

submitted by /u/tyrannosauru
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source https://www.reddit.com/r/Entomology/comments/lafnhk/can_insects_have_areas_of_skin_that_are_not/