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Yes. I ran into a similar situation where I recommended he replace the engine, however he wanted new bearings. I knew he'd be back, and sure enough the car sat in front of my work a month later. Turns out, one step away from removing the engine, the connecting rod wedged itself so the crankshaft had to be dropped ever so slightly.
In the 1ZZ-FE, the crankshaft, instead of the conventional design of main bearings, is held on by the entire bottom end of the engine. I was able to remove it by undoing all the bolts, some are a little difficult to get to, the hardest was the one on top of the longitudal crossmember. I'd recommend removing the engine and just overhauling it on a stand where everything is easier, but yes, it's possible to remove it without pulling the engine.
In the 1ZZ-FE, the crankshaft, instead of the conventional design of main bearings, is held on by the entire bottom end of the engine. I was able to remove it by undoing all the bolts, some are a little difficult to get to, the hardest was the one on top of the longitudal crossmember. I'd recommend removing the engine and just overhauling it on a stand where everything is easier, but yes, it's possible to remove it without pulling the engine.