To change from nutural to any drive position without press the clutch padel, it depends --
If your car is not moving and the engine is not running, you may do it, but don't force to do it.
If you car is moving, and the engine is running, you can do it as long as the engine rpm and car speed match perfectly.
Say, if your engine is running at 2000 rpm and you car is moving at 50 mph with 4th gear, then you can shift from nutural to 4th when your car runs at 50mph and you control your gas padel to let the engine running at 2000rpm. If the engine rpm, car speed and gear you want to change don't match, you will not be able to shift in, otherwise if you force to shift, you will damage the synchronization maybe other parts of the gear box.