It is possible to do in place like most things, personally I wouldn't suggest it on a driveway tbh, racks are easier done on a ramp.
Theres 4 main bolts for subframe, 8 small bolts to remove from strengthening pieces, cable tie up the radiator, unbolt the column and then undo your top caps on suspension and you should have the subframe on the floor. You might have some pas pipes to play with too, depends how you do it.