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I assume it's the same as on my 2000 RAV4 and it was actually very easy. Bulbs were under $10 at local auto parts store.
Make sure you have the lights OFF - these bulbs are VERY hot (experience talking).
Lift the hood, directly behind the headlight bracket, there are 2 cables going into the headlight assembly. Follow that cable to the headlight assembly and there is a plastic "base" turn that base slightly and it will pop out. Trying to not touch the glass, push in on the clip below the light (near the bottom of the base). Slowly pull the bulb assembly out and put the new one in making sure that one seats and the clip pops back up. Good luck.
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