- Why do I have to remove RX and TX digital pins before uploading a sketch
RX and TX (hardware serial pins) are the pins by which the sketch is uploaded to the processor when using serial upload. Apparently you are using the hardware serial for other hardware and that interferes with upload. Which Arduino are you using? If a 328 based, you can use a software serial port for your hardware and leave hardware serial for upload and debug. If a Mega (and others) there are multiple hardware ports.
is it posibile?
Yes.