Yes, create a footprint with pads for edge connectors. SMD footprints for older versions of KiCad, edge connector pads in newer. I create one pad at the origin, with the correct size/offset, then use the array feature to create the required number of pins.
Edit: I put the origin of the pad at the top, that way wires are snapped there, instead of being sometimes routed between pads. It is a good idea to mask out copper fill and solder mask in the area of the edge connector.
I create the actual edge together with the outline in freecad, as I can use the various constraints to make sure everything is sized and spaced correctly. I then put a small cross where the origin of the first pad should be, export as DXF, then import into KiCad onto the edge.cuts layer. I use the small cross to line up the ouline with the grid, then delete the cross.
That should produce a PCB with a perfectly aligned edge connector, and because both the outline and the pads are aligned with the grid they can be easily replaced.
(I document pads on the silkscreen as well - helps with debugging, especially with more than a handful of pins.)
