No, but have changed many cradles !!
I would be worried about grinding so close to a plastic tank. Even if empty, you may damage it.
Not too bad to take off but you will need to drop the subframe and take the exhaust off its hangers and let it sit on top of lowered subframe. Other than that it is just the 4 bolts for the rear prop, take it off the diff and tie it out of the way.
Soak cradle bolt threads for a day before you start, particularly the ones at front end not car. If they round off or shear you are stuck.
I did replace the panels on one having taken the cradle off. I used 2mm checkerplate aluminium. Made a nice job and won't rust! Depends on the condition of your tubular sections as to whether it is worthwhile.