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It's true that grinding on sheet metal is trickier since it's easier to grind through the metal, or blow through it when re-welding. For sheet metal, if I felt the need to grind them, personally I'd probably do a lighter grind, being careful to not grind away the base sheet metal, and then weld.
You might ask a welder's opinion if you can get one. Re-doing all the welds on a semi-tube chassis would be a lot of work. Those welds aren't the prettiest, but see if it would really be necessary.
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