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I had a 97 3.0L V6 and changed the upper control arms both sides. Don't know if there is a big difference in space but I do recall the left being a PITA due to the fuel lines as you say. I had to work the bolt past each line one at a time, very carefully, but I did get the bolt out and back in without damage.
For reference I found that taking the fuel line bundle mounts loose from behind filter forward there are 4 and the one large line loose at the front upper A arm best for clearance it probably added 1 hour total (loosen and tighten) because they are PITA. The main fuel lines hard section look to be stainless bend that it may break. I used a 5/16 wrench to remove the bundle bolts (filter one you need small hands). 3 bolts to loosen the shield I did not remove it all the way just enough to clearance the 2 bundle bolts. For the front single large line mount (behind the front A arm mount) 8mm 1/4 drive socket ratchet. You need patience to do this upper side. A ratchet 5/15 wrench help speed it up and a lift would make it more comfortable.
The brake line one can bend it slightly to slip the rear bolt out.
I had trouble getting that bolt out and was probably lucky not to break the line. I know I pried the front side up and angled it up and forced it out. I cut about 3/4" off the end of that bolt and it went back together pretty easy...I did both sides and then brought it to the ford dealer for alignment. That's where I found out it needed a new shim kit to get aligned and it cost around $150 extra. I don't know if they ripped me off or not, but it had 210k miles and I know they were original.