yeah, they can kick a fieldgoal whenever they want. All fieldgoal range is is what is probable for the kicker to make.

If you ever see a game tied with about a minute to go the first thing they say is they need to get in fieldgoal range. now for Team A that has a great kicker that might be the 35 yard line. For Team B that has a weak kicker that might be the 25 yard line. But they can try a fieldgoal whenever they want.