No, without the paddle shifter, you cannot go into a manual mode.
But like I said previously, you can "remove" the overdrive ratio by pushing the OD button on the shifter (good for steep hill descent) and if you need more engine braking, move the shifter in low gear. So, you still have three settings.
One other thing, the Rogue is designed in a way that if you don't press the gas pedal, you will have a little bit of engine braking which will save you some brake and in descent the car will try to keep the same speed by applying more engine braking (lower gear ratio). I find it quite useful arriving at a red light and having to touch the brakes only at the end when I am just at around 15 mph.
As for fast acceleration for passing traffic or changing lane in traffic jam, I find the transmission very responsive already in automatic mode, don't see the need of a manual mode, but it is a personal feeling. Best way is to testdrive it and see if you feel the need to have it for your way of driving.
In my case, I have a light foot and cool way of driving, and in return I have better fuel economy than declared : more than 32 mpg in summer.