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uh not really... you have to lift the motor up at least high enough to get the frame bolt out... either by lifting the motor or jacking the motor. you may not have to completely pull the motor, there may be enough from between the transmission and the firewall to lift the motor enough... but i doubt it.
its not that hard to pull the motor. and i wouldn't hurt, might be a good time to check that rear main seal while you have the motor out.
Uh. Which motor.
I've swapped motor mounts by jacking up on the oil pan rail with a block of wood.
Remove the nut on both sides, jack up motor some, undo the block bolts and rotate the 351 engine mount out of there.