Yes, it can be done. That doesn't mean it's an easy task. I had one run in with trying this back in an early session of a song my band plays called "My Way". I had played the transition part leading into the bridge kinda sloppily. I used a common feature in which I highlighted exactly where recording was to start and stop. I made it work with a decent amount of clip edge dragging to the point where my bandmate couldn't hear it. I could, of course, because I had been so used to hearing it.
From my experience, the enemy of the drum punch-in is the decay of a cymbal hit from before the punch. You're gonna wanna punch in before an obvious crash and not in the middle of one or you may not have a seemless punch-in. It can be masked though if it the punch is during a part with a lot of instrumentation.
This is only speculation. but I imagine it is also a lot easier to get away with a punch-in on drums during the same drum session. If you move the mics or tune the drums differently, I'd imagine it would be hard to achieve a seemless punch-in.
I hope this helps in some way.