Header Install Question - 440 68 Barracuda

This is my first 440 a body install. I have the 440 in the car and purchased the block hugger tri y headers from schumacher. The passenger side has lots of clearance. What is the best way to install the headers on the driver side? do i have to loosen the mounts and lift the motor? or am i supposed to remove the starter and steering shaft and install from underneath the car?

The manual from Schumacher says it's easy, but not sure which way to go.

thanks

Robert