Yes, it's best to do this with Manjaro's/Arch's command line package manager pacman.
When you install the pulseaudio packages you might be warned about conflicting pipewire packages and be prompted to remove them. Do that, you won't have to remove those in the second step then. You probably won't be able to remove the pipewire packages with their dependencies first though (before installing the pulseaudio packages) because other packages rely on them.
Code:
# install the pulseaudio packages
sudo pacman -Sy pulseaudio pulseaudio-alsa pulseaudio-bluetooth
# remove the pipewire packages
sudo pacman -Rs pipewire-alsa pipewire-pulse
# find out about pacman's capabilities and see what the flags do
man pacman