Yes. I would much rather change the numbers for a short game than have children standing around waiting for the numbers to become perfect.
If you have eight, you might be able to make a 3v3 and a 2v2 by mixing with the other club, or use a 3v2 for one game and change who has the three next time. The important bit is that everybody is involved.
I would speak to the opposition before the day if you know your numbers. Once both clubs treat the players as one group to create games from, it gets much easier.
I’d avoid becoming too attached to “our three against their three”. At U7 the useful question is whether the children are playing, not whether every little game has perfectly matched team lists.