I think it should be possible. Ask the toll booth attendant when you enter. Be sure to get a receipt if you're paying for parking.
At AK & DHS, exiting from the Guest Drop-off takes you back past the point where the routes to the drop-off & the Guest Parking diverge. There's usually a cm there, and you can ask them to join the stream of cars going into parking.
At Epcot, you'd probably have to circle back thru the toll booth. You can also do this at the other parks if necessary, and you probably will have to do it all parks to get from parking back to the drop-off.
DHS has a "return to parking" loop just after you get onto the exit road. At Epcot, follow the exit signs towards MK, and you'll pass by the toll booths on your left; there's a "return to parking" loop just past the toll booths. At AK, you'll probably have to exit all the way. Keep to the left on the main exit road (not towards AKL), and you'll go under a bridge; there's a left turn into the parking entrance a little ways past the bridge.
The park entrance areas, including the Guest Drop-offs, are currently under reconstruction at both Epcot & AK, so things may be different when you visit. Also, be aware that the Guest Drop-offs don't take you right to the park entrance; there's still a bit of a walk.