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With the car off the ground (lift or stands) AND with the RIGHT TOOLS, yes. Spray some PB Blaster on it first before removal. If needed, have some HEAT handy (propane torch).
I say it depends on how old the car is. I couldn't take it off on my 2006 and I had the special tool. Took it to a mechanic and was told that they won't be able to remove it workout breaking it.