changing spark plugs on v6???

I need to change the spark plugs on my 2007 Tucson with V6, I can get to the front plugs but am scratching my head to get to the back plugs. Do I need to pull the head to change them or is there another way?

I need to change the spark plugs on my 2007 Tucson with V6, I can get to the front plugs but am scratching my head to get to the back plugs. Do I need to pull the head to change them or is there another way?
You have to pull the intake plenum to get to them.