One set of CoF numbers for the wheels seems to suggest that it would not.
However, AndyMark only has a single listing for CoF on their
website which would suggest that the inline and transverse may be the same.
At least one team has already come to a similar conclusion with an
empirical test.
In this case there is a slight chance your robot will drive (the strict math says it won't be able to start). Even if it does drive, it should drive very slowly.
The one way I see that you could accomplish this would be to "deploy" the sideways pair of wheels using pneumatics when you decide to use them.