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Since Form Four is designed primarily around self-defense techniques, it is erroneously reasonable to conclude that the answer to this question would be an unconditional, yes. But practically speaking, that is essentially not entirely true. And, although many of the maneuvers within the form can be easily transitioned from visualization to being done against a live opponent, this is not always practical, without adjustment. Also, there are other factors one must consider.
As mentioned elsewhere within this guide, there are three (3) major divisions within the American Kenpo system (basics, self-defense, freestyle). And, when one wishes to transition maneuvers between divisions, one must sometimes alter and/or adjust some of the maneuvers in order to successfully adapt said maneuvers to their new division. This is primarily due to the differing purposes of the divisions. And, including live opponents into a form is such a transition between divisions.
It is important that one fully comprehend what is being said here. A transition of maneuvers can occur between divisions, but sometimes not without some form of modification, due to the differing objectives of the divisions. And, adding a live opponent is transitioning from the division of Basics to the division of Self-Defense. Or another potential way to look at it is, transitioning from theoretical (or idealized) to real (or practical).
Consider, the isolation sequences contained within the forms. At first glance, they don't appear to pose a problem to the goal of executing against live attackers. But, upon closer inspection there are some shortcuts that these isolation sequences employ that make it difficult to correctly perform them upon a live individual. At least if they are to be performed exactly as executed within the form. So, the solution is simple: Alter the maneuvers to allow them to work correctly on a live individual. Do not try to force the maneuvers to be performed exactly the same way without and with an opponent - this will not work effectively.
As one example, consider the end maneuvers of isolation 1b (#6). The maneuver, as performed within the isolation, demonstrates punching in two directions across the body to potentially two attackers. The problem is that the form maneuver is executed without any foot maneuvers or potentially to a proper width to be effective. Essentially, this maneuver would be in-effective without some modification.
The form does this maneuver to extend information about motion presented elsewhere in the forms. It is not intended for effective self-defense. Again, a different set of objectives in contrast to the objectives of the self-defense division of the system.
This objective divergence is also blatantly apparent in the self-defense technique Snaking Talon. As executed within the form, the technique is not practical when executed against a live partner, without modifications. Simply put, it is performed with incorrect timings for self-defense. This is due to the goals of the form. Again, conflicting division goals. But if one were to make the necessary adjustments, the technique can be successfully and effectively performed against an attacker.
Therefore, while it is possible to answer this question, yes; this must be done within an understanding as to how this can successfully be achieved. Otherwise, the outcome will be less than optimal or an emphatic failure.