Replace timing belt idler pulley

Is it possible to change out the timing belt idler pulley on a 4Runner with

3.4 L without pulling the lower timing chain cover and the crankshaft pulley? My idler pulley is starting to rattle and I was wondering if I could get to it by removing the upper timing belt cover, locking the cam shaft pulleys into place somehow and just replacing the pulley. I changed the belt, water pump, pulley, and tensioner 45,000 miles ago and don't want to do the whole job over again.

Thanks for any help\advice.

Anyone tried this? Is it more trouble than it is worth?

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