Not if he wanted to accomplish his objective, which was to win independence for the South. The North could keep sending men at him till his army was destroyed, and Lee knew it. His only hope of accomplishing his goal was to diminish Northern will to keep the war going, and the only way he could do that would be to make them think it was either unwinnable, or not worth the cost of winning. That's what his foray into Pennsylvania was all about. He meant to convince Northern civilians that not only was the South not defeated, it was capable of launching a foray into their territory. The reality was that they were near the end of their rope from resource exhaustion.
Had a few things gone differently, Lee may very well have pulled the whole thing off. He had some compounded bad luck.
a pretty good synopsis of Lee’s thoughts on the Pennsylvania campaign.
I would disagree on one point. IMO, the mistakes that Lee made before and during the Battle of Gettysburg, coupled with the fact that Meade made few mistakes during the battle resulted in the defeat of the Army of Northern Virginia at Gettysburg. I do not think bad luck was the reason for the failure of the Pennsylvania campaign.