I would say yes. Spend the time to make plenty of room (see links), have everything as clean as possible. And care which part you buy - correct aftermarket/Denso is fine, DON'T buy a cheap copy.
My (long winded...) experience here, including a link to a DEFENDER2 article that I found very helpful:
FORScan Transit software - works on Defender!
You will then get on to the debate about whether you need a "relearn" procedure. Many have found you do not, some have advocated you do. I would suggest do the replacement & see how you go. "My" link is my experiences with the FORscan software (read from top [again, long winded..., sorry...]) that lets you DIY this for "free".
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