How to remove the panels on the steering column to replace both levers?

Those levers are not replaceable, you have to replace the complete switch assembly to change them. Removing the covers isn't hard. Tilt the wheel down, then use a trim stick at the seam between the upper and lower cover. Gently release the clips. Lift the upper cover off. Then remove the screw that is in the lower cover and pull it down to remove it.
To change the switches, you need to get the turn signal switch, be sure to get the correct one, there are two, one for the intelligent lights and one without. Now for the turn signal switch you just release the tabs and the electrical connector and pull out on the switch assembly. The process for the wiper switch is the same just on the other side of the column. However, with the year and mileage you might want to see if it's covered under warranty.

Thank you Steve, that was extremely helpful.

You're welcome. One thing, run the heat or wait until it's a warm day, the plastic can be really brittle even on newer vehicles because they keep making it thinner every year.