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Yes, it can be done without loosening or dropping the cradle....but like I said it's not exactly easy to get the tools up in there. You can loosen the cradle bolts up (liberally) and gain a little extra clearance up in there. Maybe even loosen the front cradle bolts and completely remove the rear. That should give you plenty of room. If doing it this way, I would suggest supporting the rear end or cradle with a floor jack at a minimum.
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