The above is a clip off a vid showing they use a Impact driver and Torx 40 bit to smack the heads to ring them loose.
Now, once off, do you need them back on? To me it's a personal choice.
But on my 2018 Fiesta, I didn't have the issue - and have left them off so I can pull the drum and tip it over to remove the brake dust and inspect the system on a regular basis when I need to rotate the tires at or around every oil change as time permits.