When I did the gaskets on the wife's '06 TB 4.2 I just laid a piece of cardboard on top of the engine after removing the coils and wiring harnesses. Climb up there, lie down (don't get too comfy), and with a 10mm socket and ratchet reach down behind the engine and remove the rear intake manifold bolt. Installation is reverse of removal.
One other thing I would add is to consider replacing the purge valve if it's got any age on it. It's not a question of "if" they will fail, it's "when". They are a a bugger to get to with the intake manifold in place, with it removed the purge valve is right there!
The PCV hose that is in the center of the intake manifold has one of the 10mm bolts hiding behind it. The hose is L shaped, and the short end goes on a horizontal fitting on the intake, the long end is vertical and goes on a much longer fitting. Trying to peel the vertical end off first can lead to frustration and using words you had forgotten you knew! The short end is secured with a small spring clamp. If you can, use a small needle nosed locking pliers and release that clamp. Then you can wiggle the short end off and the long end will come off easily. That clamp is bonded to the hose on the top. Remove it and use a regular small hose clamp when you put it back on. Makes it much easier to clean out the PCV hose in the future.
Give yourself two days to do the job. You could probably do it in one long marathon session, but that's how things get overlooked and mistakes get made. It's not really a hard job to do, just time consuming.
Good luck to ya!