Our neighbor does this with success but she has a very large garden with plenty of open space around the plants. She also has weed cloth down so they don't touch the soil.
We did this with about half of our 18 plants this year because we didn't have enough cages and it was a total disaster. I will not do it again! Most of our plants are indeterminate and got HUGE - most over 5' - so the uncaged ones collaped on themselves and each other - and surrounding crops as well. Some fruit is touching the ground and with a huge slug problem it is getting eaten. Also, many of those tomatoes are inaccessible because there are several heavy vines on top of them and they can't be pulled out without breaking the upper stems

On top of this I had somewhat crowded the plants because this is a new garden and not nearly as big as we want (just moved here last winter) and I didn't want to compromise on what I planted ...so I planted them 3 deep. Not a good idea!

It is a massive tomato jungle in there.
I'm making the best of it and still have a nice crop (though they have taken forever to ripen!) but I will most definitely be giving the plants more space next year and they will all be staked in some way (cages are certainly not the best choice but they were what we had already this year).
I think no stake is possible in the right conditions, but I won't be doing it again!