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Go at it from underneath. heh, Not. Sorry about the poor humor.
I did mine without removing the intake so it is possible. It seems that some do remove the intake, but it's not necessary.
When the sensor is removed some coolant will spill so may want to drain a bit first. I took out the IAC and got in there with a 19mm socket and a short ratchet handle IIRC. But I loosened it first with a 19mm open end, turning something like 1/12 turn at a time. I didn't swear much at all so it couldn't have been too bad.
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