Pearson 30 Rudder Repair
technically, yes you can as the tube it resides in is glassed to the hull and deck.
The issue will be when you unbolt it and it drops to the bottom of the drink, how are you going to find it?
More importantly how are you going to get it back in? Using the mast as a crane, it is work on land. I cannot imagine trying this stunt in the water.
I have built shims that could be installed on the water to help tighten up the bearings, but it was involved to ensure there were backups so the rudder could not get away from me.
Spend the money and have the boat hauled.
While out, you ought to add new delrin bearings from Pearson to the rudder tube, as they need to be replaced every 2-3 years unless you really like slop in your steering.