I have done this many times with DS - it has really been a sanity saver in several instances. I am petite with fairly small breasts too, so I am not sure that makes a huge difference, but being able to contort does! It is definitely easier when they face backwards than frontwards, but can be done both ways depending on your agility!
The first time I did this with DS he was like 'WTH?' - then he got big grins like 'Thanks, Mom, you came and saved the day!' Give it a try!