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Yes ,it can be done w/o removing the engine. But if you are due for a clutch/AOS/IMSB ,it is so much easier with the engine out.
You have not effectively diagnosed lifters as the cause. All of them,just on one side ,all 'went' at the same time ?
If the lifters have collapsed ,running the engine for long will damage the camshaft lobes.
There is lots in Search about diagnosing this issue.
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