What would be the reason you want to remove & replace your BCD underwear?
I just dove with a resort in Roatan that had a wood platform off the back of the boat, rather than a ladder. It was tricky to get out of your gear and hand it up while bouncing in the chop. I eventually saw another diver get out of his rig at the safety stop, hold his BC in his hands, and hand it up as soon as he surfaced, avoiding the entire drama on hanging onto the trail rope while removing the BC. I ended up doing that for the rest of the vacation. There was no reason to put my BC back on, but I have no doubt that I could have done so if necessary. It didn't occur to me until now that others didn't do the same likely because all of their lead was on their BC.