Yes it can. I did mine without removing the drive. Just lube it up really well with some dish soap and be patient. It took me <1hr to remove and replace mine.
That sounds great I'll give that a shot. Just after I got the boot I gave it a quick try and found it difficult around the fat part of the stern. I'll soap it up and see if that works better. Thanks
Make sure it's the right way up. It should be marked 'TOP' molded into the rubber. Just go easy and you should be fine. The hardest part was reaching behind the motor to get the big gear clamp back on!