Yes, if you are somewhat mechanically inclined it is a job that you can do with the manual and a few hand tools.
However... (don't you hate those?) for the 4 hours labor that the dealer will charge it may be worth it. I don't have a manual in front of me here, but if I remember correctly you have to remove the rear fender to gain access to the final drive assembly. If you have bags and a backrest that adds more work, and I can tell ya that without a bike lift (a lifting table that will raise the bike up to waist level) you will be working at nearly floor level for much of the job... I hope your wife is a good masseuse. Your lower back will not be happy with you.
If nothing else go to your local tool supply house and buy one of those roll-around seats with the shelf on the bottom to hold some tools and parts. Best investment going for the home bike mechanic. While you are there you can get a bike jack/lift for about $60 that will lift your machine some and hold it level while you do your thing.
One more thing, I personally don't drink espresso in the wee hours of the morning. It makes me cranky and I cannot sleep well.
Hope this helps,