I freemotion without a foot all the time. I use a large embroidery hoop sometimes and sometimes I use a iron on backing or nothing depending on the pattern I am doing.
You do need to drop the feed dogs and use a new sharp needle. Bring up the bottom thread and take a few stitches in place and cut the threads off and then off you go.
Use some common sense and don't get your hands any where near the needle. This is just as a caution ... I know you aren't simple minded. I just had to say that so anyone trying this would take care. Hands go at three and nine o'clock. I use the cotton gardening gloves sometimes that have the little dots of rubber on the palm of them.