The front 3 plugs are under the black cover and the bloack cover comes off easily and exposes them.
Those 3 are the easy ones, should take 5 minutes tops
The back three are pointed towards the firewall and are under the intake plenum, these 3 will take a better part of an hour no matter how you look at it.
In my 1995 V6, I used 3 extensions (2 - 6 inch and 1- 3 inch)and a universal joint and managed to get the socket into all three without too much of a struggle. If i had to do it a second time, I would be faster. Taking the intake plenum off is the way the manual suggests, but that would eat up some time as well.
You will also need a good spark plug socket (one that grips the plug). Basically on the back three plug, you have to blindly slide the socket with the plug down the tube. Not hard to do at all.