Hi Mark:
You're are correct in that its not a job one looks forward to. Remember that nerd with the coke bottle glasses we used to have so much fun beating up in public school? He is now a design engineer incharge of access to routine maintenace items on GM cars.
The job looks more daunting than it really is. The drivers side is pretty much straight forward except for the one at the back of the engine. Using conventional tools, the socket is not deep enough and the steering sector shaft is located in such a way as no combination of extensions seems to work.
The passenger side rear two are again pretty much straight forward but the front two are the hard ones. The first time I did it, I removed the alternator so I could at least see what I was doing. Even then, it was not a walk in the park. Now I just do it blind.
It is possible to do it from up top, but if you have access to a lift the above becomes a moot point. It is a straight forward job from under the car. I suppose if you weigh less than 300 lbs., are not hindered by 60 year old joints and fat arms, and have a clean area to work, you could do it with car up on jack stands.
Removing the passenger side tire and inner mud flap may be easier than from up top, at least for the center two plugs but have never tried it that way. As far as special tools, I can't remember if it was Snap-Off or Mac but one of them have an extra length sparkplug socket that is long enough to protrude out beyond the manifold. That allows you to use a swivel head, long handled gear wrench or combination wrench on the socket hex, negating the need for extensions, ratchets etc.
For the most part, we have all developed different ways of doing this job depending entirely on our physical attributes (or limitiations) and whats in our tool boxes. The first time will probably take a couple of hours, but subsequent times it gets easier.
Going to once again attack this job my self on the Caddy this fall. Gawd if only I had 6 foot skinny arms, articulated every 6 inches
Bill