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Unfortunately, the answer is no. You cannot define a single keypress to call your broom (at least not that I know of). You always have to open your tool wheel first, and then call your broom from there.
Calling the broom can be done by clicking on it, if that feels more comfortable than pressing "3".
You can redefine both the key for opening the tool wheel, and the key for calling the broom, and perhaps choose keys that are adjacent to each other, in case that makes the process more comfortable for you. But that doesn't seem to be what you're looking for.