I have replaced probably a thousand over the years. That's not an exageration either.
Do it from underneath, hands down.
3/8 ratchet, 30" extension and a 7/16 or 11 mm swivel socket (same size). Go up from between the driveshaft and the frame rail. There's an abundance of room. Remove bolts, bolt in new one, unplug old one, plug in new one.