Yes. Take the handle off the lid, take the screws out of the hinge and the armrest will come out of the truck. The plastic strip that's about 3/8 of an inch wide that goes around the perimeter of the inner plastic and ends at each end of the hinge pries out to release the fabric. Start from the hinge end and carefully pry the plastic strip out.
No one lives forever, the trick is creating something that will.