Did mine for the first time a month ago. Yes, it was a bigger pain than I expected. It was easier underneath when I got the O2 sensor wires out of the way by unscrewing that bracket and swinging them to the side. Not sure if that's the same on a 2.5 (I have 00 2.7).
If you don't have one, get one of these. I wasted a couple hours trying to get the last clamp back on without one. Got so freakin' close everytime. Then done in one shot when I finally got this for 15 bucks or so at an auto parts store.