Yes you can use join-counts (not "joint counts") for spatial point data autocorrelation measure. Here's how with discussion on appropriate weight matrix decision:
First let's make some data:
> set.seed(123)
> pts = st_as_sf(data.frame(x=runif(50),y=runif(50)),coords=1:2)
> pts$S = factor(sample(c("Presence","Absence"),nrow(pts),TRUE))
> plot(pts,pch=19)

To do join-counts, you need to decide where the joins are. For a grid that's usually the 4- or 8- nearest neighbours (rook or queen neighbours). For a set of points you have to find another definition, and there is some flexibility here.
You could try an N-nearest neighbour approach with ooh, 5 nearest neighbours:
> nn5 = knn2nb(knearneigh(pts,5))
> w = nb2listw(nn5, style="B")
and then do the join-count tests:
> joincount.test(pts$S, w)
Join count test under nonfree sampling
data: pts$S
weights: w
Std. deviate for Absence = -0.13997, p-value = 0.5557
alternative hypothesis: greater
sample estimates:
Same colour statistic Expectation Variance
47.00000 47.44898 10.28898
Join count test under nonfree sampling
data: pts$S
weights: w
Std. deviate for Presence = -0.53688, p-value = 0.7043
alternative hypothesis: greater
sample estimates:
Same colour statistic Expectation Variance
16.000000 17.448980 7.283882
with similar ("no autocorrelation") conclusions from joincount.mc
.
So how to choose the number of neighbours? Or why choose N-nearest neighbours anyway? You could also build voronoi polygons and use polygon adjacency for the connection matrix? Each or any of these should give you the same general conclusions about your autocorrelation unless your data is particularly weirdly arranged to be affected by a specific connection matrix. Try a few and confirm that - the more you do, the stronger your conclusion about your autocorrelation can be.
But remember this is really an exploratory statistic and usually only a stepping-stone to a formal model with testable hypotheses about the underlying data beyond complete spatial randomness of presence/absence conditional on the locations.