About spring loaded solderless connector for JTAG pads
Absolutely.  TAG-CONNECT specializes in connectors of these sorts for a variety of different platforms.  That approach uses alignment holes with thru pins to keep these things lined up.  They make them with and without "feet" that clip them to the board for a no-hands approach, and they offer a retaining clip to help you hold it on for debugging when you don't have the real estate for holes.

They recommend that you adjust solder stencils so as to not put any solder paste on these pogo-pin targets.


From http://www.tag-connect.com/sites/default/files/images/ddblock/1tag.jpg