Yes, and keep the documentation with a copy of your tax return. The IRS will frequently target mileage for review. It will not be a problem if you have adequate documentation.
The IRS guidelines state:
"Negligence" includes (but is not limited to) any failure to:
- make a reasonable attempt to comply with the internal revenue laws
- exercise ordinary and reasonable care in the preparation of a tax return or
- keep adequate books and records or substantiate items properly
This penalty may be asserted if you carelessly, recklessly, or intentionally disregard IRS rules and regulations - by taking a position on your return with little or no effort to determine whether the position is correct or knowingly taking a position that is incorrect. You will not have to pay a negligence penalty if there was a reasonable cause for a position you took and you acted in good faith.
See Penalty for negligence and disregard of the rules and regulations Avoiding Penalties and the Tax Gap
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