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Yes it can be done with the car on the ground. It's not an easy job especially at the Optispark on the driver's side. I removed the alternator, loosened the A/C condensor and shoved it forward, loosened the P/S pump and moved it forward and removed the serpentine belt idler pulley. There is a sheet metal bracket that holds the wires as they go under the A/C compressor that has to be removed to hold the new wires when you install them.
The wires on the passenger side are not difficult as you can easily see the wires on the opti. Just do one at a time.
If you are using the stock wires, reuse the plastic retainers. If you go to larger wires like 8.5mm or bigger, the retainers will not work unless you increase the size of the holes (use a Dremel). When I installed MSD SuperConducter wires, I tossed about half of the OEM Retainers and opened the holes in a few others and that seemed to work to keep them away from the manifolds.
The coil wire is not too difficult, just twist the wire after removing it from the coil and pull directly up from the Opti. The new wire will go on the Opti side by pushing and twisting with the dilelectric grease acting as a lube to get it to slide down and lock.
Be sure to twist the wires at the Opti to remove them. Use some dielectric grease on the inside of the boots at both ends to provide a good seal.
Even if you bought a case of beer and two boxes of bandaids (and you will need both!!) it's never cheaper to take it to a dealer
It is a PITA to do but I like to work on the car, it's relaxing; well maybe except for walking across the garage a few times to recover the wrenches you just tossed or finding out that you could have taught sailors some new words and phrases....