ive done two sets of these (although not for a couple years)
you can do it with disconnecting nothing more than the steering rag joint (one bolt) and removing the front driver's side wheel, and doing it pretty much all from underneath the car
its tricky, and its a pain in the ~~~, but once you figure out just what you're trying to get at, its very doable. I had the most success running a series of socket/u-joint/extensions in through one of the openings in the driver's side wheel well, and i found a place i could snake my arm up to get a hand on the bolts to help the socket on
for re-installing i like to wrap a little bit of a paper towel around the head of bolts to get them to stick nicely in the socket and not worry about them falling out
the passenger side is pretty easy