Removing the bulb in a CX7 is a real PITA. If replacing the right bulb, turn the steering wheel all the way to the right, or do the opposite for the left side. (or you can opt to remove the entire wheel on the corresponding side) You'll need to remove 3-4 of the fender well clips with a phillips screwdriver being careful not to break them. Once the screws are removed, pry back the wheel well cover to access the back of the headlamp to change the bulb.
I have a 2010 CX7, and I changed mine about a year ago, and just as described above it was a pain. I did not take the tire off, but did turn it all the way and removed the fender which is held by a few clips, but that was the easy part. Getting to the bulb was a pain, but that explained why dealer wanted $90 to do it.
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Replace headlight assembly for 2011 Mazda cx7
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