RE: 2002 5.4l spark plug change
If you have the coils that sit on top of the plug, they are actually not that bad.
There will be a small bolt that holds them in place. After disconnecting the clips to the injectors and the coil itself, undo the bolt. After that the coil should lift out with a boot still attatched. You can then get to the plugs.
Do the reverse after changing the plug
Rochester Personal Defense