Yes. A common handheld macro technique is to pre-set the focus, then move your body/camera slightly forward and backward until the subject snaps into focus, rather than trying to fine-tune the focus ring. Many shooters brace themselves, rock gently, and use continuous/burst mode to fire several frames as focus passes through the subject.

To improve your odds:

• Use a smaller aperture such as f/8 or f/11 to gain a little more depth of field.
• Raise ISO if needed to keep shutter speed up.
• Use flash when possible, since camera shake is very noticeable at macro distances.
• For static subjects, a tripod can help, but it is less practical for moving subjects.
• If you have multiple frames with different focus points, focus stacking can combine the sharp parts of each image.

At high magnification, depth of field can be only a few millimeters or less, so some missed shots are normal. The key is controlled body movement, fast enough shutter speed, and taking short bursts to improve your keeper rate.