You can negotiate closing costs, but you can’t avoid them completely. And some closing costs are negotiable, and some are not. You can negotiate the attorney fees, messenger fees, commissions, and recording fees.
You cannot negotiate the cost of the appraisal, credit report, and tax services. You can also comparison shop for some vendors to bring costs down, such as title insurance (in some states), a home inspection, and homeowners insurance. You can ask the lender to lower fees as well, such as the application fee. If the lender won’t budge, you’re free to look for another one.