This Video is * Spot - On* for this R&R because the VOP (Video Original Poster) has MORE ROOM to show the front of the 5.3L Engine during this Belt Tensioner R&R job.
Mind the position and lengths of the Three Mounting Bolts... The SHORTEST one is located at the BOTTOM BOLT HOLE FLANGE and also... Follow the recommended Fastener Torque of 37 Foot Pounds:
update:
The answer is Yes. The drive belt tension pulley can easily be removed. To reinstall must first mount the serpentine belt. 37ft/lbs on pulley bolts.
I had new pulleys, however I removed the seals, both sides, cleaned and repacked grease, to continue using the OEM pulleys. The tension pulley no longer wobbles and no longer whines. Did same to idler pulley as preventative maintenance.