Folks frequently post that they're able to do it simply by removing mounts, exhaust system connections, and lifting the engine high enough to clear the cross member. But it's a pain working under the car that way, safety is an issue, and not much more work to go ahead and pull it in my opinion. Provides for more certainty that when you put it back together everything will be clean, properly sealed and torqued. And, while you've got it out, anything else that needs to be done is relatively easy to get to.
It can be done,,but its not a simple task. I done it a few times without removing the engine. Drain oil, unbolt the motor-mounts and lift the motor as high as you can, unbolt the rack from (just) the K-member, unbolt the oil pan and let it come down. Once the pan is down you will need to unbolt the oil pump & pick up and take them out. Once the pump & pick up are out the pan can come out with some moving around. Best bet is t get the one pice fel-pro gasket when re-insatlling. It has the tabs that screw into the block and hold it in place until you get the pan back up and bolts started.