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I assume your battery doesnt have a handle (when its time to replace get one with a handle). Do you have some additional accessories near the battery? I have big hands and have no problem reaching in and picking it up.
If you're looking to replace it, many parts stores or repair shops will change it for you. Otherwise, should be easy as mentioned. Put a cover over the fender.
I had the same problem a while back as I had no handle on the battery.
I could lift it a couple of inches but no further. It would have been possible to pull out if I'd had someone to help grab it at that point.
I ended up using a section of an old seat belt to slip under the battery and pulling on the exposed ends.
I didn't remove the handle on the new battery. <g>
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