I used the video zbyers linked as a guide, among others on youtube.
I have larger hands and ended up removing the passenger side airbag for access to the top bolt.
It was fairly easy to remove the airbag. I used this video as a guide:
It made it very easy to reach the top bolt.
The most difficut part of the airbag removal for me was separating the yellow electrical connector.
I also removed the front passenger seat rather than contort my body to lay under the dash, and I did not use air tools.
2003 Vibe Base / Frosty Mono / Moon & Tunes / Auto / Well equipped / 183k mi
2002 Tundra Limited 4x4 / Thunder Gray Metallic / 115k mi
Many other 2 & 4 wheel toys
38 years with a wonderful woman / 2 adult kids