I did both sides, but only 1 was throwing the codes. I figured I might as well do both since I'm was doing it. Both sides are a PITA.
You can do it without removing the compressor, column, or differential. Make sure you have some universal joint sockets (14MM I think) and long extensions. The exhaust manifold bolts are very tough to get to. They're even tough to get to by going through the wheel opening and removing the plastic liner. Keep at it and you'll get it.
Another tough part is removing the heat shield around the manifold. You'll have to bend it up to remove it, but don't let it beat you. It may take several hours to remove the first one. The second one will be easier, though.
Replace your AFR sensors when you're in there. It's recommended when you replace the cats.
Installing the new manifold on the drivers side was a little tricky. There is not enough clearance to install the manifold with all the manifold studs installed. You'll need to remove a few studs, install the manifold, then reinstall the studs. You'll see what I mean when you get there.
This project will take you a while, but you can do it! Otherwise, I like Utah and if you wanna buy me an airplane ticket...
I'll send you a PM with my cell phone number and you can call or text if you have any questions while you're working.