Yes. Just take your time, treat it like you would when you first passed your test. Get out, have a look assess the situation; don’t be bothered by the clever dicks if they take the mickey.
I’d suggest it’s probably easier going from steered to non-steered than the other way round. First time I tried to reverse one of our steering short-arse tanker trailers I thought I was going to tie meself in a knot!