Idler arm on 86 GP, wheel off or on?

[ilduce]

Can I do this with the GP on my ramps, or do I have to jack it up and take the wheel off to replace the idler arm? Last time I did the idler arm it was the whole steering system, so both wheels were off. Never did it by itself. Sure would be nice to just drive it up my ramps.

 

[86Cutlass383SR]

There is no reason to pull the tire off to access the idler arm.