Could David "Swap Bodies" with Walter?

Hello there. With Alien: Covenant having at last been released to the world, I have become somewhat distracted by an underlying though that occured to me while pondering David and Walter: is it possible David - clearly devious - could replace Walter's mind and psyche with his own? For that matter, could David "jump" from one body to another with regards to other, less advanced andoids? In my opinion, the possibility is not beyond the scope of David's personality - nor is it an impossibility with regards to his sophistication. However, I find myself wondering if such an advent would be "correct" or "fitting" to the Alien universe. As always, your thoughts and conjecture with regards to this topic are most welcome appreciated, even if you choose to keep them to yourself. :)