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No reason why not. I saw a chap on the Belgium National last year who blew a rear diff, removed the diff, propshaft and halfshafts then drove back to the UK like this!
if you drove back with no halfshafts in rear for a long distance, you would run the risk of throughing wheelbearing greese out and water grit etc in. for a test run id say yeah fine, but from belgium home, no way! id rather cut teh end of me half shafts so i could get it home better with bearings covered still :D