Sorry for just now seeing this thread. You have to remove the intake manifold for the RH side plugs, yes.
LH side
1. Disconnect the crankcase vent tube quick connect coupling from the valve cover fitting and position aside.
RH side
NOTE: The upper intake manifold must be removed to access the RH spark plugs only.
2. Remove the upper intake manifold. For additional information, refer to Section 303-01.
Both sides
1. Disconnect the 6 ignition coil-on-plug electrical connectors.
NOTE: When removing the ignition coil-on-plugs, a slight twisting motion will break the seal and ease removal.
2. Remove the 6 bolts and the 6 ignition coil-on-plugs.
NOTICE: Only use hand tools when removing or installing the spark plugs or damage can occur to the cylinder head or spark plug.
NOTE: Use compressed air to remove any foreign material in the spark plug well before removing the spark plugs.
3. Remove the 6 spark plugs.