Yes, you can still talk to Inigo and go to Rookgaard. Just tell him: Hi, Rookgaard, Yes, Yes." Please note, he can send characters up to level 9 to Rookgaard, but only ones that are not the first character on a new account. (Source)
However, if you already meet the requirements and he tells you "Inigo: I'm sorry, but I cannot let you go there, you'll get much better training here than on that ancient isle." I recommend you log in and out or wait as I had this issue and I logged out for an hour +/- and came back on and he allowed me to go to Rookgaard after. This issue happened with a new character who went to Rookgaard that same day, then rooked herself, and went back to Dawnport without logging in or out within that timeframe. As described in: Where do you end up when you get rooked? However, it could just be a glitch for all rooked characters that you need to relog in order to go to Rookgaard.