I've got a manual that had me unbolt the front motor torque mounts then use a come-a-long to pull the motor forward (disconnect and unbolt the coil pack first). This was a major pain. Took me a total of 7.5 hours to replace plugs and wires. Not sure it wouldn't have been faster to do it from below if you've got something to get it up on like ramps.
On another note, if you haven't gotten plugs yet, I highly recommend the pulstar plugs. They, so far, seem to kick major butt. They're expensive, but appear to give the beast a lot more power and low end torque.
btw, I get nothing for promoting these plugs - I'm just a user that just replaced mine @ 138K. Made a huge difference.