Can a relative sitemap url be used in a robots.txt?

Google crawlers are not smart enough, they can't crawl relative URLs, that's why it's always recommended to use absolute URL's for better crawlability and indexability.

Therefore, you can not use this variation

> sitemap: /sitemap.xml

Recommended syntax is

Sitemap: https://www.yourdomain.com/sitemap.xml

Note:

• Don't forgot to capitalise the first letter in "sitemap"
• Don't forgot to put space after "Sitemap:"

According to the official documentation on sitemaps.org it needs to be a full URL:

You can specify the location of the Sitemap using a robots.txt file. To do this, simply add the following line including the full URL to the sitemap:

Sitemap: http://www.example.com/sitemap.xml