Yes , you should be able to pan the camera with your finger across the screen or just move the gimbal if that is what you are referring to with the drone not at idle.
On my M2Z I just touch the screen and drag left or right. I should also say holding your finger on the screen controls the gimbal in all directions. Just make sure you center it when ready to fly off.
You don't have a control to move the yaw axis of a gimbal but if it's like the Mavic 2 Pro, you just touch the viewing screen, SC or phone and while keeping your finger there, slide along the surface either left or right and the gimbal and camera will follow that sliding movement.