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I would say yes, considering how much more work it'd be to do it inside the car, versus the 4 bolts + a few connectors that hold the seat into the car.
Do I need to remove the seat to replace the lower cushion only?
Absolutely! , But i'd love to see a video of you doing it your way. I think you should remove the whole seat first before tackling the disassembling parts of the seat. Best of luck.