drivers side, remove the stock air box.
passenger side, enough room.
This is more of go by feel, just fish around in there and then you'll find the bulb. Turn, pull out, change bulb, then go fishing again to find the socket. You should feel it "click" or "lock" into place after you turn it.
I personally never worried about touching the bulbs with my fingers, but maybe that's just me. I'm very cautious on headlight/fog bulbs.