Yes, it is possible, but not as simple as directly updating these values. For example, the following script will create a historical row as created in 1990-01-01 and deleted one year after:

set @@timestamp=unix_timestamp('1990-01-01 00:00:01');

insert into tbl values (100,1,2,'some more data');

set @@timestamp=unix_timestamp('1991-01-01 00:00:01');

delete from tbl where pk=100;

This can be easily automated with a stored procedure or some external script.

For this approach to work you need @@secure_timestamp variable to be not set to YES.

Allowing direct updates of versioning fields is part of MDEV-16029