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I got the dreaded headlight noise the other day. Light would open/close when it felt like it on the passenger side. Replaced the motor today without pulling out the whole headlight assembly. I must say that it was a PITA but if there's a next time it will be much easier. Tricks of the trade.
I replaced both without removing all that stuff as well. FSM says to go in from the bottom after removing the under side liner, brake duct, etc. I said no way.
I just removed the painted lid, the bezel, disconnected the connector and by rotating the position was able to get my arm/hand with small ratchet to remove the three bolts and carefully remove the motor. Reverse on installation. It's tricky but if you think the problem for best angles its not too bad of a job. I suppose someone with large hands might not be able to do it that way, as there isn't much room.