If I could get my 6'2" 220lb frame under there to do it, you can!
It took me a bit as I had to wear reading glasses that continually fogged up, I used a crappy lighting source because my upper body filled the entire footwell, and I had a few bouts of a claustrophobia while doing it, so had to make as hasty an exit as possible, but it wasn't hideous. Time and patience.
By the way, I've read since that you can get at it from the front of the dash by removing the left a/c vent assembly and light switch. You can Google replacing the light switch, and it's easy and straightforward, as I just did mine a few weeks ago. It's a 10 minute job, unless of course, you're me, in which case a screw dropped on my floor mat, shot over a foot like a bullet into the drivers seat pan, and vanished, clearly defying the laws of physics