Pull the bottom dash panel out by removing the two screw retainers on each side and then pry the center push retainer using an appropriate tool. This will give you a little more room to work with.
The blend door guide you need to clean and lube is in the picture below (white arm) below the green plug. It's located on the right side of the driver's foot well behind where the HVAC is. Long wood handled q-tips would work best...I had to use a pair of needle nose pliers to reach the guide with normal q-tips. I put a minimal amount of lube on the q-tips to help clean the guides and then a generous amount to re-lubricate it. You'll have to turn the driver's side temp control up and down to get the blend door to cycle through its positions...it will move to positions above and below the actuator so you'll need to clean it on both sides to completely clean/lube it.
All said, this ended up being quicker and easier to clean than the passenger side.