Noether’s Normalization Lemma for finite fields
I believe the answer is yes. The only part I haven't checked carefully is:


The argument in the middle of Theorem 4.2 using the complex topology, and the fact that the Zariski closure = complex closure for Zariski-constructible sets over $\mathbb{C}$. This part of the argument should be replaceable by the standard algebraic technique of using Laurent series, though as I said, I haven't checked this carefully.


In Theorems 4.1 and 4.2, it seems the only other place characteristic zero is really used is the $\mathsf{EXPH}$ part of Theorem 4.1 (assuming GRH). This uses Koiran's result that, assuming GRH, Hilbert's Nullstellensatz is in $\mathsf{PH}$. Koiran's result relies pretty heavily on characteristic zero (since it considers the solutions of the system of equations modulo many different primes $p$). This is not needed to get the $\mathsf{EXPSPACE}$ part of Theorem 4.1, however, only the $\mathsf{EXPH}$ part (assuming GRH).