exhaust manifold replacement
 

I climed all over, under, and inside to find the best way to replace my exhaust manifold. From the drivers side tire, i can get to 2 bolts. from underneath, i can get to 1. Whats the easiest way? I know I dont need to pull the engine just to change it out. its rusted and leaking.

1992 trooper 3.2L 4wd.