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The factory repair manual instructs to first remove the grille and front bumper cover, which gains you access to the bolts that retain the headlamp assemblies. Once the headlamp assemblies are removed, there are round covers that twist off to access the halogen high beam and HID low beam) bulbs.
If you have real small hands, it might be possible to unscrew and remove the covers after pulling the battery on the driver's side. But on the passenger side, access to the outer cover appears to be severely restricted by fender sheet metal. I suggest approaching the local Toyota dealer mechanics with a box of donuts to ask if there is a feasible short cut.
If you are forced (or decide) to opt for the factory-recommended method, I suggest first buying replacements for the plastic clips that hold the bumper cover in alignment on the sides, at the horizontal seams where it meets the fenders. These interlocking blind retainer strips are designed for one-time use only and usually break when the cover is pulled off. Body shops have learned to keep spares in stock for all of the popular cars.
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