Short answer: yes in principle it is possible, at least on the i.MX6 Quad, but you will need an FPGA between the MIPI port and the two cameras in order to handle assignment of separate channel IDs to each stream in a MIPI protocol-compliant fashion. This would require a fairly in-depth study of the MIPI protocol.
On the receiving end, the i.MX6 Quad contains two image processing units (IPUs), each of which can handle two streams simultaneously-- so the quad can support four streams at the same time.
The full discussion with official answers from Freescale FAEs is here:
https://community.freescale.com/thread/301812
Since you just want one camera at a time, this can probably be handled by switching the IOMUX and IPU control pads which control the assignment of IPU channels.
HTH,
Dave