Do you have to remove the whole manifold in order to get at the PCV on a 99 Ranger V-6 RWD manual trans?

Based on the Ford Ranger Haynes Service Manual for 3.0L and 4.0L 1993 - 2005 engines, the PCV valve is mounted in the valve cover near the brake booster. From the illustration, it doesn't look like it is necessary to remove any manifold parts.