I just changed the ones in my '03 a month or so back (58K miles). Like everyone else said, just remove the tire and the rubber part of the inner fender on the passenger side. I didnt remove the entire plastic inner fender. The drivers side you can get to from the top. I think on the passenger side I needed a couple extensions and 2 swivels. The only problem I ran into was the plug socket coming loose from swivel or extension and having to get it and the plug out and the weird angle it sits at. It's not bad though.
'03 XLT/FX4 L1 4x4 4.0 Arizona Beige Automatic (my weekend ride). '16 Ford Escape Titanium ecoboost (wifes ride) '16 Ford Escape S (my work ride)