Yes, it is very possible. There have been some changes in exactly what crossing should be used by expats so make sure you know (as of last time I was there the one in the middle of town could be used by all with residency in either country). For sure the one out the road the Intercontinental is on will work. Similarly on the return journey on the UAE side the immigration official (located in the office in the corner next to the Dubai Duty free..
assuming you come through Hatta) will give you a small slip of paper that you hand in when you drive past the small kiosk next to the road opposite to the immigration office. Benefits associated with urban areas. Case imposes upon the top. Many people develop from this.