Whenever I've taken them out a set of stubby wrenches has helped for the top bolts, and I unbolt the trans crossmember and support it with a floor jack and let it droop down a bit to get my arm around to the top bolts. Other than that it is normally straight forward.
If you have smaller arms you may not need to. I'm a fairly solid guy so I needed the extra clearance just to fit my arm around it on both my truck and Matti's jeep. But I can't stress the stubby wrenches enough, if you have ratcheting stubbys even better.