2008 Audi s6 v10 passenger side head removal (without removing engine)

Quick question ya’ll
Is removing the heads possible without having to remove the whole engine from the car?
Ive gotta bad valve seat and would like to be able to take the head off myself to take it to a shop.
Id like to have them ported and polished. from the looks of it and how it is setup, ir doesnt look doable. but im sure and i really hope someone out there has found a way to do it.

Its possible but to be honest. Its more work to try and do it than it would be to just drop the motor.

is there a write up on it somewhere? if you know please send a link. I think im going that route.