I don't know that I'd tear it up, because you'll probably loose the plants. If you wanted to try and keep the plants healthy and loosen the soil, you could try a couple of things. I'd dig a few holes about 6" deep around the bed and bury kitchen scraps, like fruit peels and empty corn cobs. Then I'd put a layer of compost on top. Not enough to bury the plants, but a good amount. Then I'd water it once or twice a week.
A few things will happen here. One is that the worms will come to eat the food and will "till" up your garden bed. Another is that the compost will help put nutrients back into the ground, as well as helping to hold water in, like mulch.
Another option, is apparently something that works instead of tilling. It's a bunch of organisms I believe. I saw it on the youtube channel "Growing your greens". You could search 'no till' or something like that on his channel to get the actual brand, but it was an additive that added helpful bacteria to the soil that processed it and in some manner was supposed to help till the soil with out actually disturbing it with a manual tiller. He said it was beneficial, because a tiller disturbs the balance in the ground and making the beneficial bacteria reset everything. He gave examples of how a small operation farmer has been using it for a long time with excellent results.