Nearly all business interaction is a form of negotiation. If you look at a job description and feel that you'd be able to succeed at it, that's usually enough to get started. Clicking "Apply" doesn't mean you are certifying that you meet the minimum requirements. It simply means you'd like to be considered for the job. The worst that could happen is you've wasted somebody's time (which is true of probably 90% or more of all interviews anyway).
In my 15 years in software, I've interviewed at probably a couple dozen different places. Not once have I been asked to promise that I meet the listed minimum qualifications prior to submitting an application.