Yes you can eat tapioca pearls.
When eating tapioca pearls it's best to chew them before swallowing them because some people have reported health issues and stomach problems when eating the tapioca pearls whole.
So as long as you chew the tapioca pearls before you swallow them you should be fine.
I personally don't like the taste of tapioca pearls so I throw them out but they are safe to eat.
Also swallowing the tapioca pearls whole can pose a choking hazard and they usually give off a better flavor when the tapioca pearls are chewed first.
I once tried swallowing tapioca pearls whole and it almost made me choke.