you wouldn't think twice if you saw an engineer jump in and taxi off would you and they have neither a license or a medical (well some of them do if pilots as well)
And the only way your going to find out is by asking the insurance company they might not be the same.
The other thing is it in the pilot order book? If its not ask for guidlines to be put in.
Personally in the past I have, through reading pprune and the list of accidents that have occured in the past 10 years I wouldn't these days.
In fact opening my facebook this morning there was a post about an instructor/prop accident with an instructor getting out with engine running which is something I used to do regularly but again isn't something I would do now.