It's pretty easy with the passenger side. It's pretty high up, just under the metal of the PS fender. In this picture it is the grey connector in the upper right corner of the light.
I'm here researching the same question. I can get my hand on it, but there is so much stuff in the way that I can't use my hand well enough to get it out. Pliers don't fit in there to help. I was also considering removing the entire headlight assembly to get to it. I have an 06 GT.
Nevermind. Got it. Take a flat head screw driver and wiggle electrical connection off from above. Then twist bulb out and replace. I think I was having a frustrating day the first time I tried it. ...