Changing Headers Out

Does anyone know whether or not you have to pull the engine on a v6 3.4L 2003 taco to put new headers on? It seems if you don't there is very little space.

 

I don't think you have to pulll the engine out, but I hear the cross-over pipe is a bit tricky to get out.

 

I talked to toyota today and they say that "skilled" technicians even have to lift the engine up a little bit to get at the headers and they say its impossible to take them out with the engine mounted. Has anyone actually taken headers out themselves on there 1st generatons?