I haven't done this yet, but have heard from others that they can do it as-is with some patience and wiggling them in and out (minding the gaskets when re-installing). Others said there's no way without removing the HVAC stuff on the passenger side and removing the brake booster from the firewall on the driver side. And others say to jack up the engine.
Did you alteast remove the wiper cowl? That should give some clearance towards the back and only takes 15 minutes or so to remove.
If you don't want to jack up the motor and still can't get it out, I'd say go ahead and move the HVAC stuff out of the way. The driver said most people said they can get out w/o removing the brake booster, but makes it easier if removed.