It is possible but it's a real PITA. IIRC I dropped the exhaust and trans crossmember and jacked up the Jeep to full droop and managed to wiggle it out. It took many, many different attempts to find the perfect way to wriggle it free.
1994 5.9L ZJ, retrofitted UC package, NP242 swap, 17" JK Moabs with 32" BFG MT KM's.
The Jeep of Theseus