Technically no, I’ve seen videos of it being done without removing them. Practically speaking it’ll be a lot easier if you remove them. The drivers side will pretty much fall out once you remove your shock from the lower mount in the rear diff and jack up that corner, so I don’t see a reason not to just remove it. The passengers side is harder to get out and will probably require disconnecting the sway bar at the frame (it’s just one bolt to remove, but tricky to realign when reinstalling that bolt).
