Yeah you can, and its quite quick and easy to do.
1. Separate the hub from the lower control arm at the ball stud.
2. Pull pin from C.V at gearbox end.
3. Get a friend to pull the hub outwards while you pull the inner C.V from the box.
4. repeat on other side of car.
You don\'t have to touch any of the bolts that adjust anything and the lower control arm ball stud will only sit in just the right spot so no need for an alignment.
I use a short flat head screw driver to force open the split behind the ball stud on the hub, then it will just slide out.
You will have to remove the pinch bolt completely to get it to release properly and it is normally easier to push the arm down than try and lift the hub out. Once you have the hub free you should have enough movement to get the inner C.V disconnected from the box.
Remember you will have to pull them out of the way when the gearbox goes back in.