Yes.
If 2 approved catladders and proper harness with 2 link points are used you won't be breaking any h&s regulations.
If that wasn't the case roofers would be extinct.
I had a 4.5m iron gutter replaced with a nice quality black plastic ogee one for £200 which included cleanup. To supply and replace 3 chimney cowels with chimney caps and repair flashing around chimney - £150 - all to a terraced house.
Not sure if that is expensive or cheap - just needed it doing.
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