No, because appropinquāre does not take an accusative (direct object).
You must construct it either with preposition ad + accusative, or with a dative object.
Ego ad Minervam appropinquāre volō , or Ego Minervae appropinquāre volō .
But not "plain" Minervam with this verb.
"Minerva is a direct object in this sentence" only in the English sentence.
In Latin, there are some verbs that are intransitive, thus incapable of governing a direct object; very often, they have a prefix, as appropinquāre does (it's really ad- plus propinquāre ). They are constructed with a dative object, as if you were saying (in English terms) "I want to come close to Minerva."
In any case, for whatever reason peculiar to the Latin language, appropinquāre is not used with an accusative. Use ad + accus., or a dative.
Similar (in requiring a dative) are: occurrere, to run into, to encounter, to meet. cōnfīdere and crēdere , to believe, have faith in. favēre , to support, root for. nocēre , to do harm to. pārēre , to obey. parcere , to spare, be merciful to.