You get to all four on the right side from underneath with the car raised. The two in front you can access through the wheel well, under the rubber splash shield once the wheel is hanging down. The back two you have to get to from under the car. On mine, the back two have very little clearance between the plug and body. I cannot get a socket with a ratchet wrench on it so I use a socket with a hex head and an open end wrench. It is not terrible but not fun either. (If I recall, it may be possible to get three changed from the wheel well but I always have done only two. You can look and decide.)

The good news is you don't have to move or remove anything to get to them.