I'm not sure about the R-31. You might have more room than my R-27. But you may also have more stuff to get in the way.
I had to disconnect my cockpit scupper hose and some other stuff to get good access. So be prepared.
Re-installation is not quite as simple as removal. When putting the thruster back in place, you have to line up the fork that straddles the new pin AND the collar on the flange that nests into the recess on the other flange AND then the two bolt holes. All the while when you are supporting the rather bulky thruster.
My solution was to get two metric bolts (I forget, 6m or are they 8m) and cut the heads off. Don't worry about the material, they are just temporary alignment helpers. I screw these studs into place so now the alignment tasks are a bit easier, then put a nut loosely onto one of the studs as soon as you get the motor slid into place. Then you can "leisurely" remove the other stud and reinstall the proper bolt without having to hang upside down with sweat in your eyes and all the blood rushing to your head. Then the second bolt is easy. Snug them up and you're done. Don't forget to re-hook-up the scupper drains.
I kept the helper studs onboard in case I need them again. Sure enough two years later I sheared the bow thruster pin. The bow thruster is in a totally invisible to the naked eye location. You can put your hands down there, but not my fat old head. I stuck my camera down there, took a photo and was able to do the entire job "in the dark" using the studs.
Good luck, take your time and have a cocktail ready for when you are done.