You sure can, I just did it. Remove pitman arm from steering box and unbolt idler arm. The steering can stay assembled otherwise. I dropped the linkage down and layed a towel over it to protect the pan. It's close but doable.
Jack engine up enough to let one engine mount bolt sit on the K frame or stick a block of wood in there and loosen the other mount/block it too.
Rotate the engine to get the front counterweight out of the way, BDC @ cylinder one should do it.
I did a cheap pan stud kit to keep the gaskets aligned but contact cement to the pan would be just as good.
Not better than pulling the engine but if you don't mind crawling around on the ground it works.
You will bang your head on stuff and get pissed off at least once