The 1st time I changed plugs I followed the service manual taking them out (removing outer AND inner air box, etc.) and it sucked. I found an easier way, so I put them back in as described below. Put iridiums in a few days ago, also as below with no prob. It might not be the best or easiest, but it is WAY easier than the manual method.
Two things though. You got big hands, it'll be tight. Also must have a spark plug socket that will hold onto the spark plug, seen cheap ones that didn't.
1) Take off seat, outer airbox cover, and left side air scoop.
2) Pull boot off front cyclinder plug and use 5/8" combo wrench. Don't over-tighten and put the plug boot back on.
3) Pull boot off rear cylinder. Use 5/8" spark plug socket - swivel connector - 6" in. extension - and Ratchet. (The spark plug socket needs to have a rubber "grommet" in the base to hold on to the spark plug.)
4) Stick all this through the space circled in the picture, though it's a little tight, it'll go. (I was too lazy to take the outer airbox off for the pic.) It basically gives you "direct" access to the rear spark plug. Use your left hand to go in behind the frame where the air scoop was and guide the socket onto the plug and remove.
5) Put the new spark plug in using the same method, using the left hand through the air scoop space. Be sure not to cross-thread.
Hope it helps.