Yes you can change the rubber weatherstrip without removing the window, or loosing the vent wing, if you have cranking windows. Power windows this will not work.

Remove the door panels.

Roll the window all the way down.

Pull the old weatherstrip out of the channel, then roll the window up letting the window go outside the rubber into the bear metal channel. Reach in and remove the rest of the weatherstrip.

Install the new weatherstrip by rolling the window down into the bottom of the channel then installing the rubber weatherstrip around the top. Roll the window up into the weatherstrip. Install the bottom section of weatherstrip. Roll the window down back into the weatherstrip. Then press in the remaining middle part into the channel.

Use silicone lubricant to make this easier, and to help protect the rubber weatherstrip from cracking, by occationally cleaning your seals with it.