Is NFC required for reading RFID?
Can you read RFID without NFC? No you cannot.

Can you read QR-Code without a camera?

You need the right hardware to read codes. For reading QR-code you need an image of the QR-Code therefore a camera. Without a camera you cannot read QR-Code.

To read RFID you need hardware to read the code. The hardware needed is NFC, so without NFC you cannot read RFID.