Sort of. I have done that do remove pins. I use a soldering iron to heat up the parts.
However, Prime's thighs are not held in this fashion. There seems to be a solid axle. The axle is what the chrome thighs rotate around, to transform from truck to robot. There are springs that keep tension on the legs. but if you push the thighs to the side, you can see the axle. Also it helps that im looking at a Clear KO
G1 prime and I can see the axle running thru the plastic.
If you look at the front wheels, you can see a axle/pin and what looks like some sort of collar around the pin.