Ironically, the younger immature me would say "yes...if both parties are mature and understand the boundaries, it's fine." The older more mature me however, would see that the younger me still needed to learn a few things and needed to quit being so idealistic. Honestly...yes, it "could" be fine, but in my opinion, it's tempting fate, asking for problems and in short, just a tad disrespectful to the one you're with.
I know this won't be a popular answer, but there you have it.
And yes, I know there are some people that manage this just fine, and good for them. But if you (or your partner) were them, I imagine you wouldn't be posting this on YA. ;)