Yes you can and youre taught how to usually when learning to drive. The easiest method for centreing your car is to pick a point on the windscreen/wiper where the road markings disappear into, if you keep that the same youre always in the same place in the lane.

As soon as youve parked a car half a dozen times youll see exactly where it fits in the lines and get a mental image of how wide/long it is.

Combine those two and you know if youll fit or not. You should be aware of all 4 corners at all times, if youre not spend some time in a car park learning where they are. If your mirrors are set properly you should be able to see exactly how far off you are on each side.