It comes down to your definition of "safely"... it's how much risk is it worth vs. the extra cost of a clean sprayer. I would just take extra care in cleaning it....if it is possible to safely use the sprayer for both.
Example of something completely different but use to make a point... If you used another chemical, 2,4D, in a sprayer and cleaned it really well after use... I mean REALLY well, and you were to spray cotton then next day with a fresh batch of roundup... for Roundup Ready Cotton... you WILL see damage because it takes so very little 2,4D to injure cotton! There will always be a little residue left behind. (this is mostly for older sprayers, with "age" *in* the hoses.)