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.
"Stand your ground. Don't fire unless fired upon, but if they mean to have a war, let it begin here." -- Capt. John Parker