Matthew,
this is a subject that I've been toying with in the past couple of weeks - the short answer is yes. You just need to create a duplicate pdf (identical hierarchy, field names, etc.) for yourself. Place a button object on that copy and add the following javascript to it on the click event;
xfa.host.importData()
This will allow you to browse for the xml file and open it within the form.
**please note that if you're using Adobe Reader, it appears that the form must have Reader Extensions (i.e. a license). Alternatively, the form must be opened with Adobe Acrobat, otherwise the import data function will not work