Yes, it can be natural if the context already makes it clear.
However, 立ち会う often refers to being present at some event, process, or activity, so in isolation the sentence can feel a little context-dependent.
For example, in a real conversation, the omitted thing might already be obvious:
- a house inspection
- a delivery
- a site visit
- a procedure
- a meeting
So 訪問日に立ち会います。 is understandable as a short practical statement, especially in workplace or scheduling contexts.
If you wanted to be more explicit, you might say something like:
- 訪問日に現場確認に立ち会います。
= I will be present for the on-site inspection on the visit day.