Yes, but this is not a normal rotational panorama. It’s closer to a parallel-motion panorama or mosaic, and standard pano stitching often fails because the perspective changes as you move.

For a mostly flat subject, or scenes where you can accept some perspective oddities, use software that supports translation/mosaic stitching rather than normal panorama mode. Community answers specifically mention Microsoft ICE (parallel motion) and Hugin’s Mosaic mode.

If the scene has depth changes, corners, gaps between buildings, or foreground/background separation, there is no single perfect "real-world" projection, so some distortion or manual work is unavoidable. In those cases, a practical approach is to photograph each wall or building as straight-on as possible, then manually join the images along vertical seams and blend the road/sky as needed.

So: it can work best on plain or nearly flat walls, and it can still be done on more complex scenes, but expect compromises and possibly manual stitching.