Is it ever possible to auto-rotate with a missing rotor blade?
Highly improbable. If you've ever seen how much a washing machine can shake with a little imbalance in the laundry, at a relatively low energy spin, imagine the destructive forces that would be experienced by the imbalances in your theoretical rotors. Even if your missing blade manages to get away without causing impact damage to the other blades, there is going to be an immediate violent force translated through the aircraft. Your newly configured rotor formation is still going to try to spin around its center of mass, which is no longer concentric with the mast. The degree of imbalance will tell you how far off center the new center of rotation wants to be. The mast is still going to be trying to keep the rotor rotating on its own center, so now the rotor and mast are fighting to circle their common center, and basically this means the rotor, it it doesnt just go to pieces from all this force, will be yanking HARD and fast on the mast, which would probably rip it off the airframe.... but, if your magic rotor and mast stay intact, the violent motion would be translated to the airframe which will now be shaking super violently around you, which would likely cause it to rapidly disassemble. If it magically stayed together, the people inside (hello pilot) would be experiencing forces through the body like riding the paint shaker at the hardware store, but harder and farther, if not faster, on every shake. Watch that paint shaker and imagine your head being in that. 

I do not believe your scenario would be survivable, even on the ground. It's odd to think, but a complete rotor disintegration is not the worst thing that could happen after blade loss.