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I am at that point that I can't figure this out and its driving me nuts. I have searched the internet and found multiple threads on this subject where people say you shouldn't need to remove the heads to remove this pipe. I have all of the bolts and nuts removed but it seems like it is wedged between the heads and I can't figure out how to maneuver the pipe to get the rear flange piece out from between the heads. I have a bit of fear that the previous owner screwed something up and it wasn't installed properly (only 2 bolts and 1 nut was holding it down, the other 2 nuts were left in the valley under a pile of sludge). Is it truly supposed to come out without removing the heads? If so, I will beat it out of there and buy a replacement. Didn't want to do that until I know I can get the new one in without taking the heads off.
In my experience of recently doing head gaskets on the 3.0, it’s a hell of a lot easier if you remove the heads. That being said, not impossible to do it with heads on. Undoing the motor mounts and rocking the engine and trans forward could give you enough space to slip it out the rear close to the firewall.
Other option is dent, bend, and otherwise break the brackets lodging it in place. Just be careful it’s not the cheapest coolant pipe to replace. Reasonable pricing is out there though.
I have never been able to get it out without the heads being removed but everybody has a different experience with this motor it seems.