Can I connect to impala or hive Database using the JDBC connection step

SoapUI / ReadyAPI can connect the db as long as you have the driver classes in java.

It is just required to copy the driver library under READYAPI_HOME/bin/ext directory and restart it.

There are two way to connect:
1. JDBC Request test step
2. Groovy Script test step where user need to write his / her own code. If you are using this, user needs to register the driver as mentioned in 10 of below thread:
https://www.soapui.org/scripting-properties/tips-tricks.html