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If you do it from underneath you have to get the car in the air and remove a panel to get at it. If you remove the shroud around the headlights you can get your hand in the opening and get the bulb holder out. Not too hard. Some have moved back the brake air duct in the front of the car and reached the bulb that way. Good luck.
For me the easiest way to do it was from under the car but someone with smaller arms could probably do it faster from the brake duct or by removing your headlight shroud and going at it that way. If you mess with that brake duct too much it will crack your fender well in the back where it exits and not stay in place. I watched it happen while a guy a auto zone tried to show me how easy it was.