Yes it is. Sometimes you don't even have to raise the car. Support the engine just enough to remove the load from the mount you're interested in. Don't put a dent in the oil pan with the jack. But sometimes you have to remove a whole lot of stuff just to reach the mount (like the rear one). Doesn't the Haynes book tell you the torque?

What they don't say is that after you put the new mount in, you might want to adjust it. A little bit of movement - just the clearance in the bolt holes - can cause one mount to carry more or less than it's proper share of the load. Nothing's gonna fall apart, but it might transmit more vibration that you'll feel. With 217k miles you might not be that picky...