L.M.
I can tell you that yes it is very possible.
My son's head was down but his face was up...so his head was in my pelvic area, his back was pushing on my back (causing back pain and later back labor), his but was near my ribs with his knees pushing between/on my ribs, and his feet were kicking my side.
I was much smaller when I was pregnant with my son and he was bigger than my daughter so I felt every single move he made towards the end.
With my daughter I felt the movement, especially towards the end, but she was positioned differently so I didn't feel the discomfort so much.