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Here is a picture of the 2010 Armada -the tail lights are the same since 2004 (at least it looks that way) - see "Related Links" section of this answer.
Open the rear door. Remove the top and bottom 10mm bolts with a ratchet. You do not need to remove the middle screw. The other side of the lamp assembly is secured with plastic pins. Just pull and turn the light assembly and it will come off. The plastic pins are sturdy and should not break (though it sounds like they will).
Then turn the light bulb assembly counter clockwise until the grooves are free then slide the lamp out. Pull the light bulb out and slide the new bulb in (think its 3817 - Autozone will find it for you). Push and twist the lamp clockwise to lock it back into place.
Push the plastic pins back into the holes first, then the bolt side. Screw the bolts back in and there you have it.
Isidro O'Keefe
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