Yeah, you can pull the heads off with out pulling the motor out. I did it while I was waiting for my engine crane to arrive after I found out I had low compression on one of my clylinders, It turned out to be a bent rod.
Once you have the radiator out and the belt driven accessories off you can actually climb into the engine bay to undo the head bolts. Makes it a lot easier and you want to have your wrench as square as possible so you don't strip the t55 torx head bolts.
The front timing cover does not have to come off to remove the heads, I was doing a full rebuild anyway and was bored waiting for some tools/parts to arrive. I suggest removing the camshaft timing chain sproket from the timing chain then tie a rope or string around the timing chain and tie the other end up high out of the way somewhere so you don't lose the chain down into the engine block.