No, Mini ToCs are not available for structured documents. There are other ways to achieve similar mini ToCs but they will be based on careful use of cross-references. You can see this in action in the built-in FrameMaker S1000D application which generates a structured mini-toc as you open the XML data module.
The structured mini-toc requires some changes to be made to the EDD to allow the useful mini-toc structure. Once you have done that and imported the revised EDD into your structured template, then the mini-toc can be constructed manually. Of course manually creating a mini-toc is often wasted time and effort, so that's where scripting really helps. Once again that's how it's done in the S1000D application.