I think Rose, Westbrook, Liv, and maybe Wall could've done it recently. But all of those guys are ridiculous athletes that stood out as some of, if not the best, athletes in their class. Look at all the guys who didn't make it.
Guards develop different than bigs. With high school bigs - its easy, because you can almost bet on how they'll develop physically. That's a huge part of drafting. Guards though... its the most difficult position to play in the NBA mentally and the most stacked by far talent wise.
I'm not saying PGs should never come out, but I would say that I just wouldn't ever feel comfortable with it.