The pedals are mounted on a shaft with nylon/plastic inserts between the shaft and the pedal assembly. They can be removed but are literally a pain in the neck to get at. If the inserts are not badly worn, they can be greased with plastic grease and reassembled or replaced. Take care with the fittings as they can easily be dropped down behind the trim and be lost (How do I know this???).
Diagrams :-
https://rimmerbros.com/Item--i-GRID001564
Item 5 is easily lost and item 28 (2 of) are the inserts.
A spray of spray grease or chain wax in the right spot may do the trick to save a lot of work.
Item 5 is probably one of the most important clips on the car. Without it the rod slides out and the brake pedal falls off!!!!!!