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Should be able to get to it from under the front by removeing a plastic panel in front of the front tire. Either that or remove the front tires and remove the inner fender well and you can get it there. I have not yet done this but I have looked it over to replace the entire lamp. That's my take on it, hope this helps.
You can get at them by opening the headlights and removing the thin plastic bezel that covers the front and side of the light frame. If I remember right there are 4 short phillips head screws.
You can then reach down to the DRL/Signal light, grab the connector and turn 1/2 turn. The connector and bulb can be carefully pulled up to the headlight opening (wires should be long enough) where you can change the bulb.
I went up from underneath. Changed my yellows to whites. Look much better at night. Remove the front inner wheel well and the plastic piece between the wheel well and the skid plates. Your arm will go up to about mid bicep when your fingers hit the back of the bulb. push and twist and it drops right out of the bottom.
You can get your hand behind the DRL light by pushing the air duck for the brake out of the way. You have to have your headlights up in the position took me 2 minutes.