Yes you can handle such relations with jsprit.
It is a bit of coding, but - I think - easy to implement. To illustrate it, I prepared you five examples that are based on the Vehicle Routing Problems (VRP) developed by Christofides-Mingozzi-Toth's* (first benchmarking instance). Follow the links behind the individual headlines and you get to the code. Note that the first activity in a route is marked with a triangle. The labels denote jobIds.
noConstraints
capacityConstraints
job 13 and 21 in same route
job 13 and 21 in same route AND 21 before 13
job 13 and 21 in same route AND 13 right after 21
Visit http://jsprit.github.io/ and you get to a number of code examples and docs.
*N. Christofides, A. Mingozzi, and P. Toth. The vehicle routing problem. In N. Christofides, A. Mingozzi, P. Toth, and C. Sandi, editors, Combinatorial Optimization. John Wiley, Chichester, 1979.