Yes, I think it would work fine for most cases. That's also to give the charging system a chance to stabilize before parallel them. Only time I could imagine I'd be worried is when you've seriously exhausted your battery winching or left your headlights on or something. Even then once in a while is probably no biggie.
'91 Pickup - Imelda
'08 Tacoma TRD - Donna
'09 Kawasaki KLR650
'12 Gunnar Rockhound 29
"Our task must be to free ourselves from this prison by widening our circle of compassion to embrace all living creatures and the whole of nature in its beauty. Nobody is able to achieve this completely, but the striving for such achievement is in itself a part of the liberation and a foundation for inner security. " --Albert Einstein