Last weekend, Springsteen did just that in Jersey, getting onstage with sad-faced acolyte Alejandro Escovedo and giving "Beast of Burden" a spin. Someone got really good video of the 8 minute rendition, including a great drunken guitar solo (100% strictly bar room) that is the cherry on The Boss's bar-band fantasy.
(Of course all the anal-retentive geetar-fan-boy YouTube commenters are nitpicking Springsteen's technique. Ah, the internet...)
Watch Springsteen's craptastic "Beast of Burden" solo here (and up yours, Yngwie Malmsteen!):