You do need to remove the lens in order to replace this.
Here are a couple guides that will help with good info.
https://www.2carpros.com/articles/turn-signals-not-working-blinker
https://www.2carpros.com/articles/turn-signal-bulb-replacement
Here is a video that helps with replacing this light. Clearly this video is on a different vehicle and not a turn signal but the process is the same for the other bulbs.
Below you will find the process from the manual that will help with the remaining detailed needed to complete this.
Please let us know if you have other questions. Thanks
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Wednesday, August 11th, 2021 AT 7:24 PM