Sorry about the delay - yes, I did replace both main and side lights - but purely by the engine bay only.
I had a more detailed (as I could look and try to be honest) of removing the headlight assemberly - but agree it's not as easy as it could have been, so in the end just replaced the bulbs via the engine bay.
In case you have a diesel version like mine (in the UK) the drivers side bulb access is blocked via the air intake hose assembly which needs to be removed first - then fully limited (enough) access is available to replace the bulbs.
My main sticking point now is trying to replace the stock indicator flasher unit, so that I can finish my project and replace the front/rear yellow signal bulbs. I sourced the 'Toyota' replacement flasher unit - but looking at the relay housing and distribution box under/behind the steering wheel this looks like a completely different challenge!! (tempted to ask my dealer to do it - or wait for a run of dry days when I don't need to use the car in case it goes pear shaped
By the way, will need to change the main bulbs again to my (in reserve stock) Philips Blue Vision Ultra bulbs due to the Philips Extreme bulbs not looking as good as the LED side lights - you live and learn
I know it's really another thread, which I'll sort out - but if anyone as a tip/simple way of replacing the flasher unit -without killing the whole car electrics distribusion board that would be good to know