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 Toyota Pickup
'09 Kawasaki KLR650
'12 Gunnar Rockhound 29
“Anyone who believes in indefinite growth in anything physical, on a physically finite planet, is either mad or an economist.” -- Kenneth E. Boulding