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Yes they can be replaced w/o taking the cover off. I have done it. It is easier to raise the front, remove front wheels (optional), remove the R&L air damn, and remove the panels under the bumper cover. This will allow you access and you then will be able to see everything. I believe two 10mm screws hold the housing bracket to the cover and three 7mm hold the lens to the bracket. Hope this helps.
I replaced mine with the clear ones and the one thing that you have too look for is the flattened O ring between the bulb and the housing. Make sure you put it back on. Also pay attention to the way you take off the spring. It has to go back on the same way.
A good trick is to also glue a small piece of mirror to the inside of the housing where the top of the bulb is going to be. This is where the housing melts and cracks from the heat of the bulb and allows moisture to get inside.