Yes. As long as your Agency has given permission for you to do so, managers can tap Sign on any in-progress packet and change the signing name for the manager as relevant, thereby taking over the signature packet. You do not need to reassign the caregiver's manager in order to do this.
To do so go to the E-signatures tab > locate the caregiver packet in question > tap Sign then change the manager name accordingly to sign your name instead.
This functionality is particularly helpful for when agency managers are away on vacation!