My answer is, it all depends. If they were recently replaced, they should come off just fine. If they are old/original, you may be in for a challenge.
When you remove the nuts from the U bolt, closely watch the shaft sections of the U-bolt. If the shaft section starts to twist with the nut, you are weakening the strength of the U bolt and may even snap it off. U-bolts that twist during removal should be replaced.
To avoid this, first clean off the threads that are sticking down through the nut. You don't want to try and force the nuts past a lot of road grime that is sticking to the threads of the u-bolt. Next, apply penetrating oil like PB Buster to the nut and exposed threads of the U-bolt. Give the nuts a couple of raps with a wrench and let them sit for a while.
Once the oil has had a chance to penetrate, loosen each nut a half turn before you really start to remove any one of them. They start best while the entire assembly is tight. As you loosen the nuts, start with a boxed end wrench and just look right at the portion of the bolt that sticks down through the nut as you turn the wrench. If the shaft turns with the nut, then you have a problem.
If the shaft is moving with the nut, carefully apply heat to the nut. You may be able to remove the nut and save the U-bolt if you do not twist it too much.