A few people have, and you can remove it. However, be aware that a lot of times the workers at the factory scuffed up the paint with sandpaper in order to make it stick better. Some have the scuffing, others don't, and you can't know until you pull the tape off. So it's possible that you'll have to have the pillars painted if they're all scratched. Also, I'm pretty certain that the pillars weren't clear coated.
I would suggest getting the carbon fiber pillar covers from Burtman- they're really sharp and well made and look way better than the plastic tape stuff. I have some pics on my car domain page- just follow the link below.