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There are two screws that need to be removed first. Then pull straight out (it will take some force and it will feel like you may break the light, just make sure you are pulling straight back on the light, not at an angle). The whole assembly will then pop off and then disconnect the bulbs you need.
On 2004 and newer Nissan Xterra's, there are no screws, instead have push in clips and the entire dash around the steering assembly must be removed as one piece. The rest of the process is the same as explained above.
For 2006 model and with a small hands to grab the tail light straight out, I have come up with a string that's about 1/8 in diameter sliding it in the back and middle of the lens, from top to bottom, then pulling it straight out. The whole lens just pops out with ease.
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