They are not that difficult to change, and although a $450 apparatus like a Rabaconda is nice, it is not necessary. All you need are 4-5 good tire irons and whatever you want to use as bead ramps (more tire irons, actual bead ramps, etc.)
The principle of the opposite bead in the drop center, is amplified on a mousse change. Basically I have bead ramps/irons all around the whole tire when I am finished installing a mousse. I use a c clamp to push the bead lock out of the way but there are other ways to deal with that too. It is just easiest for me that way. Here is a picture since I just did one. Probably took me 15 minutes tops.
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Since yours are used and have shrunk some, they will be easier to dismount. To re-grease, you can also just lever one side wall off, flip the tire and push the bead down and then it is easy to grab the mousse and yank it out so you can grease it good. I use silicon-based grease like Superlube. Some use tire soap products but that stuff is water soluble and is designed to dry out. Just my opinion on the grease.