You need to remove the exhaust to get sufficient clearance.
DO NOT use an impact to loosen the exhaust bolts and nuts. You would definitely strip them. Spray some rust penetrant onto the threads and use a socket wrench to remove the nuts.
If automatic, I would advise disconnecting the shift cable as well. If you try to pull too hard onto the cable, chances are you would damage it resulting in stiff lever movement when shifting in and out of Park.
Removing driver side tie-rod end would gain you more space.
Wednesday, December 21st, 2011 AT 2:25 PM