Can I still apply to UCs without fulfilling the VPA requirement?

Nor would taking a semester of art negatively impact your course rigor. But yes, you could fulfill the requirements by self-studying art history and passing the AP exam. Of course, if you fail the AP exam, you’re likely screwed. Personally, it’s a lot of work for little return, where a basic drawing course Is relatively little work. But you do what you need to do.