Yes I did but it's damn long time ago...
Space is pretty tight, I used jack stands however, with a ramp, it should save alote of sweat
If the bolts are not too rusted, you'll be looking at around 1h job...
It's too long ago, might have more info if I did it more recently, sorry...
Might need to put some heat on the CAT bolts if they're being stubborn. Don't what ever you do shear them off, as the bolts are captive to the CAT - major ballache.