Yes it is possible. God knows all outcomes, and he changes outcomes for the good of those that love him. But even though he knows the outcome doesn't mean he's going to make us do something. He will direct others to change outcomes. When Jesus was born it was already known that Herod would try to kill the baby. To change the outcome God had an angel tell Joseph to leave the land. Technically God didn't changed the outcome, but didn't impose on free will.