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The ONLY easy way to do this is to pay someone. Any other way is a major pain in the rear.
With the doghouse off the rear two are really easy. From under the hood the front too are harder, but doable. The middle six are very difficult to reach from under the hood or from in the doghouse. It can be done, but you have to be a contortionist.
i've done it on a few v8 models and didn't have too much trouble. i've read that the fuel rails have to be removed for access, but my experience proves that it can be done with them in place. the best thing is to have a 1/4" drive air ratchet with assortment of short extensions, ball joint, and 7mm socket, to remove the coil screws (1 per coil), and to have a similar setup in 3/8 drive for the plugs themselves. a low-output air ratchet is advised, so you can't overtorque things.
you'll want to start by removing the front seats, as that'll greatly reduce your need to be a contortionist.
one common problem you'll encounter is that you'll install one of the coil mounting screws at an angle, and it'll go in a few threads before you realize it. when this happens, remove the offending screw, cut off 1/4" from the tip, and reinstall it. it'll be as good as ever. ideally, you get them all in there straight and this tip isn't needed.
at the end of the day, i'd much rather do this in a van than an expedition or whatever other body