Is it possible for a Christian to protest against government authority in a Christ-like manner?

Given the biblical call to submit to governing authorities (e.g., Romans 13:1–2, 1 Peter 2:13–17), and yet also the examples of godly resistance (e.g., Acts 5:29, Daniel 3, Exodus 1), is it ever appropriate for a Christian to protest government actions? If so, what would such a protest look like in a way that remains faithful to the character and teachings of Christ—especially in light of commands to love enemies, be peacemakers, and turn the other cheek? Are there historical or biblical examples that support the idea of Christ-like protest? How have various Christian traditions understood this tension between submission and resistance?