Encoder Motor Removal

Ist it possible to remove the encoder motor on a 93 sonoma-4.3Z, NP1?
I really dont want to remove the yoke if I dont have to.

It appears as though ft. prop shaft and the yoke will need to be removed to remove the encoder motor.

It figures. I knew Id have to remove the prop shaft but was hoping not to have to remove the yoke. The yoke can be a pain sometimes to remove. Shaft and yoke nut is no problem though.