Yes, I do it every day (in a straight only lane) when I need to legally proceed through an intersection and the right lane is right turn only. It is recommended for safety reasons and required by law in Pennsylvania if you want to legally proceed through an intersection. Most other states have similar laws.

Granted, if I were to hug the shoulder and risk getting hit by a right turning car, I would never get pulled over and most drivers would assume I was doing the right thing by hiding on the shoulder from cars.