Obviously, the front three are fairly easy to reach. The rear three are the real problem. The easiest way to do the rear three is to jack the front of the vehicle up, crawl underneath until you can see the back of the engine from the ground, get real comfortable, making sure the engine and exhaust are cooled down, reach your arm up and pull the boots, very carefully.... then replace the spark plugs. You will not be able to see the plugs themselves, but this seems to be the easiest way to change them. Make sure you have a swivel spark plug socket and extensions and replace the spark plugs with platinum plugs so you can get another 100,000 miles and make sure you have anti seize so you can remove the plugs again in the future. The golden rule is that the engine has platinum plugs in there now and there good for 100,000 mile, if there are no misfire try not to change them unless you think your close to the end of the spark plug life or the check engine light came one to indicate that there are misfires. Good luck and hope this helps.
I have a 3.6L; don't know how different it is. But I did it by unbolting the front engine mounts with a jack under it - then jack the engine up so it rotates the engine toward the radiator and away from the firewall. This may give you more room to work.
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