Installing docker daemon on worker nodes running Kubernetes 1.20+

Is it okay to install docker daemon on Azure kubernetes cluster worker nodes manually? Would that affect kubernetes’ working in any way?

We have an application running on kubernetes 1.20 which need to create docker containers to run separate processes. For this reason it needs docker daemon installed on the worker nodes.

Cluster information:

Kubernetes version: 1.20
Cloud being used: Azure
Installation method:
Host OS: Ubuntu
CNI and version:
CRI and version: