Yes, I do it with the boat on the trailer... As long as the person pouring the antifreeze does not let the bowl go dry the impeller doesn't know the difference... I do this at home on the cement pad in front of the workshop, so the minor amount of RV fluid being discharged onto the cement is not an issue...
For running the engine for other reasons than winterizing, it would be easy enough to clamp the end of a garden hose so that it discharges into the raw water bowl, adjust the flow rate so that it matches or slightly exceeds the engine's pumping rate, and perform engine maintenance or a tune up, or to simply to get the oil warm for an oil change, while comfortably on the trailer or on the hard... Of course, you will be dumping exhaust water and bilge pump discharge onto the ground, so you have to keep that in mind - probably the grass would appreciate it...
Be aware, for those immediately envisioning a Tee fitting in the raw water hose to connect the garden hose directly to the raw water pump, that if you force water INTO the engine -either without the engine running or in excess of the impeller's pumping rate - that you will flood and back flow from the muffler into the engine with disastrous results being very likely...