On most conventional mil-spec triggers you can remove the trigger without pulling the safety/selector out. However, if you are replacing the selector itself--or are using a trigger (like a JP or Jard) that uses a sear engagement timing mechanism of some sort that engages the floor of the receiver fire-control well--in many cases you will at least need to back the grip out far enough that you can at least slide the selector all the way out to where the trigger clears it.
Point is--if you work on triggers, or replace grips and receiver pins, you're going to be taking the grip screw in and out sooner or later.
As for the type of screw head I don't think it makes a huge difference--although as a matter of preference I find a hex-head easier to work with (especially if the drive is magnetized) since you're screwing at an angle and are more likely to maintain a good engagement through the torquing process.