A short answer Yes, you can survive with Spring Cloud API Gateway and no Service Discovery.
But it's really dependent on the size of your application and the amount of traffic it will be handling.
You can start migration to microservices without Service discovery.
For internal service-to-service communication just use real hardcoded IP addresses and ports.
Regarding to the API Gateway doing Service Discovery. I can be wrong, but you won't be able to communicate through Api Gateway because it also has no clue about the location of the targets (services locations have to be hardcoded as well).
Once you begin feeling that you need scaling out you won't avoid using Service Registry tool. If you start considering which one to take I can suggest using HashiCorp Consul.
Anyway, it's most likely that you finally will have to inject Service discovery mechanism to your infrastructure. You can either do it from the beginning or take care of it later if the new architecture will be beneficial to you and there will be a plan of extending it further.
If you have plans of migration to the clouds then you can think about Kubernetes for your infrastructure in advance. It provides you with Service discovery mechanism out of the box.