Last time I saw Kobun (unusual Zen guy, wanted to be called Kobun without any honorific), he was concluding three week-long sesshins back-to-back. Someone asked him if he had any pain or numbness in the lotus, and he replied that he never did (of course, his father was a Zen teacher, and Kobun first started sitting at age seven). Kobun noted that he did have pain in seiza, sitting on the knees.
So it can be done, that’s my take. The motion at the sacrum allows the weight of the body to trigger reciprocal innervation in the ligaments that connect the sacrum to the pelvis; that would be the sacro-iliac, sacro-spinous, and sacro-tuberous ligaments. Motion is generated at the sacrum, at the hips, down through the legs, back up the legs and the spine, forward and back between the extensors and the psoas, and in the movement of breath. In the end, the place of occurrence of consciousness sits the lotus, and it moves if you let it so that everything sits the lotus, without exception; attachment, aversion, and ignorance can be observed to condition the place of occurrence of consciousness, and the witness allows the end of a suffering.