No, this is not possible.
WABA runs entirely in the background, and all of your conversations will be in Intercom. There are no phones involved, and you cannot use your WABA account from any WhatsApp mobile app. Only your customers can use their WhatsApp app to contact you.
You can, however, use the Intercom mobile app if you're on the move. Your WhatsApp conversations will appear there, just as they would on the Intercom web app.