Not the GP but empirically you can't unless you get rid of the majority of FSD's benefit. You'd need to already have both hands on the wheel, have a foot over the pedals, and be paying as much attention as if you were driving - likely more - to see things start to go haywire in that first split second. And, pray that your reaction time is better than whatever FSD is going to try to do.

Maybe that's how you're "supposed" to use FSD but realistically nobody does that. Teslas are not super common in my area but I have one friend who has one with Autopilot and uses it on his ~35 minute highway commute to work. He reads his email on his laptop next to him and doesn't look up at the road until his car gets off the highway. That's how 99% of people will use this.