In this video of Nikolai Lugansky playing Rachmaninoff’s Prelude in C# Minor it’s clear at 0:17 that his right hand is playing the G# notated for the left hand in the second beat of measure 2. I don’t think he totally uncrosses the hands but there’s a lot less hand acrobatics going on than in e.g. this Evgeny Kissin performance.

I’m making an attempt at this piece right now and it was interesting to see that effective performance doesn’t require 100% dedication to playing hand twister.