Removing non heated grips is not a problem. The OEM rubber grips are glued in but easily removed. On bikes with heated grips, I guess if you were to remove the OEM rubber grips, you may risk destroying the heating elements.

For the RHS grips, I ended up discarding the OEM rubber grip, add a thin layer of insulation tubing, clamp on the ISO Grips - done. The return action of the throttle became back to normal due to less gripping pressure on the handle.