Has no one read the Rogue Trader rulebook "Into the Storm"?
There's an Elite Advance called "Sanctioned Xenos" [pg:107]
The jist of the rule is the xenos has been sanctioned in a way similar to an imperial psyker. They have brands visible on their hands or face, and a stack of paperwork. If the xenos is with their handler and the people around know of the laws surrounding it then they can interact with humans normally.
So, tldr: Yes, if you go through the process.