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.
"Why does the U.S. care which flag will be hoisted on a small piece of land thousands of miles away?" -- Ron Paul