Technically no.

I'm not a lawyer, and only going by my understanding of motor vehicle laws (which should be the "Uniform Traffic Control" codes that are in use through the U.S.) in my state (Florida).

Florida State Statute 316.126 Operation of vehicles and actions of pedestrians on approach of an authorized emergency, sanitation, or utility service vehicle.—
(1)(a) Upon the immediate approach of an authorized emergency vehicle, while en route to meet an existing emergency, the driver of every other vehicle shall, when such emergency vehicle is giving audible signals by siren, exhaust whistle, or other adequate device, or visible signals by the use of displayed blue or red lights, yield the right-of-way to the emergency vehicle and shall immediately proceed to a position parallel to, and as close as reasonable to the closest edge of the curb of the roadway, clear of any intersection and shall stop and remain in position until the authorized emergency vehicle has passed, unless otherwise directed by a law enforcement officer.

316.183 Unlawful speed.— (1) No person shall drive a vehicle on a highway at a speed greater than is reasonable and prudent under the conditions and having regard to the actual and potential hazards then existing. In every event, speed shall be controlled as may be necessary to avoid colliding with any person, vehicle, or other conveyance or object on or entering the highway in compliance with legal requirements and the duty of all persons to use due care.

However, the reasonable person concept addresses the fact that laws cannot change quick enough, nor can encompass, all that can happen in the real world and that people are fallable. So, if you pulled completely out of the way, didn't injure yourself, didn't destroy the side walk, and didn't cause any harm to anyone else, you'd be fine.

On a side note, my Dad used to HATE when I asked all these "What if...." questions. I probably should have studied law, but it seems that most of the answers to "What if..." is "it depends what the jury thinks."

I hope that helped with a general understanding. Definitely ALWAYS consult a lawyer for real-world issues and "what if..."s.