Yeah, in "theory" it's possible. But for all practical purposes it's not worth the effort. The in/out of gear changes are going to be harder on the drives than necessary. I've managed to do something like it exactly twice and that was with dead calm conditions. I've got better things to do that try juggling all of the variable necessary to make it work. As in, dealing with passengers on the boat, on-lookers on shore, winds, currents, obstacles, etc.
Instead it's just easier to nose into the dock, attach a bow line and then pivot the stern in to the dock. When the boat is free you can spin it around. But by securing a bow line to the dock you prevent the boat from spinning the bow over. Put the dockside engine in forward and the outside engine in reverse. This will then walk the stern inward toward the dock. It's a relatively easy task to master too. The real key to it is getting that bow line on and secure quickly.
I've found it's better to NOT give the bitter end to shore personnel. It's better to have someone on the bow make a loop at the end of the line and put that over the piling. Then cleat the bitter end down on the boat. This way you don't have someone on shore getting it wrong by not attaching the line RIGHT AWAY. You can always change the lines later once you're securely docked. People are on the dock often have NO EFF'IN IDEA what they're doing. So by using they loop you eliminate their "help" from the process. Trust me on this.
Computer-controlled systems like Zeus or IPS handle this properly. And those systems have transmissions rigged up to tolerate the changes necessary to make it work. Doing it manually just seems a lot harder on your sanity AND the transmissions than necessary.
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