Yeah reuse if the heads are good.if they are bordeline rounding off then get new ones.
I remember trying to remove the drivers side last year.the allen got 7 of the bolts out.the 8th rounded on me.tbh it may have been the allen key more than the bolt so make sure your allen key isnt showing signs of rounding.
In the end I had to remove the intermediate shaft drop the lot to the floor and get busy with the grinder.