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I just wanted to ease your mind a little bit, I was 6 cm with my first baby at 35 weeks and they were very concerned and kept me overnight because I was contracting, but in the morning nothing had changed and they send me home. I didn't deliver him for 3 more weeks.
It is possible.
The difference though is that my baby wasn't engaged, and was still rather high so that probably kept him from dilating me more, but it is still possible for you. Take heart, be ready, but take heart.