Yes, I would replace them.
How difficult is often a function of workable space and how rusted the bolts are.
While you are at it, I would replace the risers too.
I would remove and replace as one unit each side (risers and manifolds). This combination will be HEAVY, but with proper planning and yankee ingenuity, it can be manageable. I lay a 4X4 post across my gunnels and use a line and pulley to raise/lower the manifolds to the engines.
If the bolt heads are that rusted, I would actually spend very little time fussing with them and just cut them and slide the manifolds off, and then remove the bolts.
Make sure on your new manifolds you clean them out with air, as debris can be stuck in them when shipped (I have blasted out styrofoam popcorn things before that I never saw). Make sure there is no paint on the mounting surface and that it is flat and true.
Remember to replace the hose fittings as well, and remember to buy the gaskets.
Wjen re-mounting the manifolds, take two bolts that are longer than you need and cut the head off. Screw these into the block and mount your manifold. Now, put in two of the final mounting bolts and remove the two studs you created and finish mounting. (The studs make it much easier to align everything).
Overall this is a basic, bolt off, bolt on job, and is DIY friendly.