Once you upset the pressure on the cams down on the valve springs, you run the risk of not getting the correct shim gaps. It's not as bad as removing the heads, but you aren't going to be guaranteed an accurate measurement.
One problem is if you don't remove the cams properly, they can warp slightly too. Not as likely with a solid cam like the V6, but still it's mentioned in the Shop Manuals.
If you're going to do the valve adjustment, buy the tools (or rent). Also, while it's possible to remove the shims & check for what shims you have, and what shims you (hypothetically) need, you'll wait weeks for the shims to come in, and you run the chance of needing something slightly different. When shims are more than 4 sizes off, I've found you can't necessarily go strictly by the math - 5 shim sizes off may require a 4-shim size off shim to hit the mean mark. Just an observation.
Good luck in your 60k.