Basically yes!
When my extra Jor El suit came in, it was so stuck on the left shoulder I thought it was stitched. I pulled it apart, very gently and it first looked like a bad scar, and the rubber par tern around it had lost all its shine. I left it like that for two days, stretching the crease from time to time and it's disappeared completely. Now I'm even unable to find the exact spot!
But of course, if you left the fig in a pose for a very long time (say a flying pose), I don't know if it could recover it's original shape. But after all, that's true of many fabrics, like pleather for example!
So I guess the rule here is not act stupid. It's just a question of being cautious...