On a D35 (according to your profile)? I doubt it. Here's a picture of how different the shafts are in length (the two shiny new ones).
The passenger side is 29.04 inches and the driver's side is 30.54 inches (1.5 inches longer). If you switched them, your wheel on the passenger side axle with a driver shaft in it would stick out a ton, true, but more importantly I don't think your driver's side axle with a pass shaft in it would engage far enough into your differential for you to insert the c-clip. If the shaft isn't falling off your Jeep on the driver's side of your Jeep, I don't think it's possible for you to have switched it, but I confess I have never tried this!