Hi @Aruna
Welcome to the FreeRTOS Community Forums !
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Yes, FreeRTOS can be used without a bootloader. There are multiple examples here
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For footprint of FreeRTOS, this thread is a good starting point.
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This page describes the memory requirements of FreeRTOS.
FreeRTOS has lots of customization options which you can use to include and exclude features as per your requirements – FreeRTOS - The Free RTOS configuration constants and configuration options - FREE Open Source RTOS for small real time embedded systems
Let us know if you have any more questions.