It is easier from underneath but you will need a lift.You can get them from the top here's how to do it.Removed the air ducting to throttle body.The first two rear plugs will be easy to get too.Now remove the serpentine belt and loosen the lower alternator bolts,removed upper alternator mounting bracket and bolts this will allow you to slide the alternator forward and gain access to the plug which i believe is #1 cylinder.Use a swivel and extension,i standard size extension and one step up form that size.You have to remove the upper alternator bolt form the upper bracket to slide the alternator toward the firewall
Yes these transverse mounted V6's can be a pain but with a normal ratchet and a u joint on your ratchet you should have no issues, it is tight I know and your might get scraped up but it is not to bad of a task, see if it is easier to get at the from underneath (extremely doubtful but hey).
I used a 3/8 swivel ratchet, with a palm drive handle, plus the socket with a 4 inch extension. When you reinstall the plugs, coat the threads with a nevr seize compound to make the next removal a breeze.
