No! Really, quite easy. Just remove the coils to get to the ones under them. The others are visible in the wells when the wires are removed. If you have a late build both plugs are under the coils for each cylinder. You can find some installation tips at this website. http://roadstarclinic.com/content/view/70/127/
Spark plug torque on the 5.7 is 13 ft. lb. plus or minus 2 ft. lb. Also, change when engine is cold. Coil mount bolts are torqued to 105 IN. LB (not ft. lb.). Apply dielectric grease to the inside of the wire boots before installing.