A Raw image is basically just data. A Cameras Jpeg rendition of that raw image is governed by the algorithms written for the camera processor/software and in a lot of cases cannot be reproduced exactly on other platforms i.e a PC even by the manufacturer themselves. As an example, Fuji gives you software that allows you to connect your PC directly to the camera and produce Jpegs using the camera own processor/software not the PC as the PC software they provided cannot get the image to look exactly the same.
Now third party software providers (darkroom, lightroom etc) have no idea what algorithms are used by the manufacturer as they are of course secret for each manufacturer so they have to write their own based on samples and trying to work out what the data in the Raw means. These Algorithms do have some common base code (DCRAW Springs to mind) but each provider writes their own algorithms as a base and applies (probably base curves) with the algorithms for each Raw Image of all manufacture/model supported, a pretty huge task and that is why a raw image in lightroom will look different when viewed in darktable, or capture one etc
DT has a lot of modules that you can use to get the image to look how you want it. The question of can you get the displayed image to look exactly the same as an out of camera Jpeg? Probably not, but you could get close.
Have a look on Youtube for a guy called Bruce Williams. He has over 60 videos on DT and will show you how to get the images how you want them.
In case you are interested, I have never tried to develop a raw image Jpeg to look the same as the Jpeg from camera, I cannot see the point, the camera does it better. I only use Raw to get a different Jpeg. I.e Black and White. I use the Jpeg from camera around 80% of the time with just a tweak for brightness/clarity etc