I say yes! Because I think sometimes what we call selfish prayer is the most honest, pure prayer. Sometimes in our “selfless” prayer about big, overarching good moral things, though these are good to pray for, we are kind of presenting our good side while ignoring our little human side that wishes for little things. We try to hide it and put it aside in prayer, or at least I’ve done so.
I wonder if sometimes I am really deep down concerned that God doesn’t care enough to listen to little everyday prayers, or I doubted He’ll answer them so I don’t bother asking. But nothing escapes God’s sight, I mean He said He counts the hairs on my head so I’m trying not to be afraid to ask for little things!
I ask my guardian angel sometimes to make sure I wake up on time because I darn well sleep in too much. Lo and behold, I awake 5 minutes before my alarm the next day, and I realized I forgot to set my alarm so 1 point for angel, 0 for me XD. Or I’ll ask my angel to help me remember something later, and I always somehow remember it! I’ve also prayed to Jesus to let us catch the ferry off the island on time, and we always do, even though we have five minutes to spare. Or to help me have patience with my family, because “Lord they are seriously annoying me right now, and if you don’t help me I know I have absolutely no strength on my own to resist getting angry!” Little, human things.
More seriously, the most heartfelt prayer I ever had was also the most honest. I cried out “here I am, in all my brokenness and weakness. I don’t understand it, but you love me so help me to believe that you do. My head understands, but my heart has not felt it, or doesn’t believe it. Show me your love!” Friend, He answered me perfectly when the verses for the hymn at the mass that happened to be that day played. “For her love He suffered, for her life he died.”
God may not answer always, or He may answer unexpectedly, but always believe He hears you

I always make sure to add on that if this isn’t from the Lord’s will, then take that particular impulse to prayer away. God is good.