When I put heated grips on my XR, I was concerned about the clutch side removal. Turned out to be pretty easy. Nothing got ruined, not even the end caps. I wrapped the caps with electrical tape and used Channel lock pliers. Came right out. I forget exactly how I got the grip off, but it was easy...took only a couple of minutes. I seem to recall a little WD-40 and pushing it off from the bar from the inside rather than pulling from the end of the bar. Obviously, if you use WD you will need to clean it off if you plan on re-using the grip. The heated grips use set screws to keep them properly oriented...
2011 XR Midnight Cherry, Hard Bags, Vic htd grips & seat, Vic medium Windshield, unlocked speedo, Lloydz Air filter, VFC III, Lloydz ATS +4, Vance & Hines slip ons
1993 Vulcan 1500 (sold)
1981 Yamaha Seca 750 (ridden into oblivion)
1977 Honda 550 (sold)