You mean list a domain on TDNAM which is regged with another registrar? If so, Yes, you can. TDNAM will verify the ownership before accept your listing.
Or, if you are the winner of an expired domain auction, you can only renew the domain for one year at godaddy. If you are the winner of a private auction, you could contact the seller to negotiate where to transfer the domain to.
The overwhelming majority of domains sold at tdnam are sold with an additional 1 year registration renewal at GoDaddy. You will be able to transfer away 60 days after the domain appears in your account. The only domains which don't do this are domains being sold by individuals. With these, you can generally negotiate to transfer them to your registrar of choice.
It is neccessary if you want to purchase the domain name. You can transfer it after 60 days from Godaddy to the registrar of your choice - but if you dont bid on it, there is a good chance someone else will or even a drop catcher will after Godaddy drops it.