I don't have them, but from my research when I was going to get them, they seem to be a lot easier than on the SN95's. Now I still hear they are a PITA, but not as much as the previous models.
A lift will make it easier, but it can definately be done on jackstand out in the garage. Sorry I can't give you any actual tips for install, but if you search across the various forums, I'm sure you'll find some walk-throughs people have done. I know I've seen em, I just can't remember where.
I put mine on, my buddy who painted my car let me use his lift when I installed them. They're not incredibly hard to install, you definitely have to remove the starter and lift the engine to make things easy on yourself. A swivel joint for your ratchet is a must, and so are some extensions! It can be done in your driveway, but if you have the option of a lift, even if it means waiting for it to become available, take that route.