From my experience one can, however it takes a good mentor and practice. First I assume I am impaired past 100'. It is not easy to describe, nor will I be able to accurately know how impared I am, but I did learn when to quit. I do work up dives before going deep to practice and gauge my abilities, and insure my breathing won't work into a CO2 hit, which only makes matters worse. Without work up dives I won't break rec limits.
A CO2 hit is not nitrogen narcosis. The symptoms of narcosis are stupidity and narrowing of focus, neither of which are easy to determine on your own, and unlike alcohol, you will have no physical clues of your condition.
First you say you can tell when you are impaired, but you can't tell how impaired you are but you know when to quit but then you reply to me that it isn't easy determine impairment on your own......
I call a CO2 hit something that results from dramatic over excertion or a CCR scrubber failure of some sort - the ppCO2 in your blood elevates, your brain tells you to breathe more but you can't breathe enough thru the regulator or due to the scrubber failure - a CO2 hit to me can result in a cascading event with a bad outcome.
What I call CO2 buildup is as the gas density increases from diving deeper, it becomes more difficult for us to exchange the volume in our lungs or you had short burst of excertion - all while doing shallow breathing that some of us do to conserve gas. (I dive in Cozumel where it is very rare for me to do any work underwater, I smoke, I shallow breathe a lot because diving here for me is no more effort than laying on a couch) This slight buildup of CO2 does produce a narcotic effect - CO2 has a narcotic effect way greater than Nitrogen - read the attached article - is it really 25x more narcotic or not is science mumbo jumbo.
If I do a long drift dive at say 120' for 20-30 minutes and shallow breathe the whole time, I can feel the change as it happens, it's gradual but there. I can take deper, slightly quicker breathes and feel the change reverse. I can swim head down real hard to the entrance of Devils Throat and be impaired right inside the cave opening, I can sit still for a few moments and thru breathing come back to crystal clear, I can then swim thru the cave, exit and drop over the wall to 150' and drift for a few minutes all crystal clear.... Those two examples while maybe are slight Nitrogen narcosis, they are way more CO2 narcosis. Being able to "control" the narcosis while maintaining depth tells me it's not related to Nitrogen. These are also unigue types of dives where you aren't maintaining your excertion levels - your allowing your body to come back to it's at rest state.
What do I do to check myself, I touch my thumb to my finger tips and count, back and forth, index to pinkie, pinkie to index. I check depth or air pressure. I look at things - I force myself to be aware. I think the noticing is all about noticing and accepting that there is a change in your brain and the willingness to say I can't stay here at this depth - like you said - it's something you are looking for.
This whole narcosis thing, I'm thinking it is much more related to CO2 verses Nitrogen in the vast majority of divers. Just watch divers underwater in a stressfull non working enviroment - watch their bubbles - I see a lot of mid level breathers that will have elevated breathing rates under "stress". They aren't fully "cleaning" their lung space of CO2 and the slight elevation causes the narcotic effect...... Why does the diver in lake Michigan at 120' have a rmv of .7 but yet after diving here for a week lowers that rate to .4 or .45 - they are more relaxed. Take that relaxation along with some breath control and see how it effects your narcosis levels at home diving enviroments....
I might be completely wrong and off base - I didn't stay at a Holiday Inn but I do drink Dos Equis......
And don't strike me down for this GUE reference, I couldn't find my paper that has the same graph:
Carbon Dioxide, Narcosis, and Diving.