If you pull the motor mount bolts an jack or hoist the engine up you can do it. Probably have to pull the coil pack and egr solenoid for clearance. The alternative is to pull the tranny and flex plate. I've done it twice, once each way. I think it was actually easier to pull the tranny, if you have a tranny jack. If you go thru the trouble to get the pan off you've done the hard part, might as well replace the rear main seal if it's suspect.
When you put the pan back on, clean it real good and put a dab of something on the pan, set the gasket on and let it set up. I used the black 3M weatherstrip adhesive and it keeps the gasket in place when trying to get it back up in place. Also keeps the gasket from extruding out and tearing when you tighten the bolts up.