I use a short sparkplug socket, then a uninversal joint, then a 12" extention. you cant see the socket or the u-joint, but there is enough room to get it all out. Also invest in a 1/4"ratchet buddy, and grind down an old 12mm 1/4" socket. after you crack the bolts on the coilpack, you can use that and a couple fingers to remove the bolts.
I also take out the air box, and battery, and the stupid framerail heat guards. took me 1hour and ten mins total.
I'm going to try and do it in less than an hour next week as I'm going to colder plugs....