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Is there a least-fixed-point formulation of inaccessible cardinals?

The infinity axiom can be formulated by defining a function $S$ as $$S(N) = \{0\} \cup \{n+1\\ |\\ n \in N\}$$ (FWIW, I'm assuming the von Neumann ordinals.) The axiom is then $$\exists I . I = ...