replace spark plugs 2002 V6

How in the world do you pull the rear spark plugs on this car. I found a post that said it could be done from the passenger side but that was an earlier model. Do I need to remove the intake manifold? I haven't tried from underneath the car so is that a possiblilty?
Thanks

They do sell kits, like a special wrench that can sneak its way under the intake to remove the spark plugs, but typically you will end up removing the intake to get to the rear set of spark plugs.

Just did it today. Yes, you need to remove the intake phelom, not the intake manifold. Not that bad really.