I did this recently, and found the best option was the right size socket, and just about every imaginable combination of short, medium length and long extension bars, UJ driver and a very fine toothed ratchet.
Make sure engine is completely cold, and remove the wiring around the manifold. I can't remember if you remove the fuel rail before or after, but I think doing it before will give you more space to get to things. Make sure you do not lose the two plastic jobbies that space the fuel rail off the manifold - I dropped one and it took ages to find because it isn't magnetic and doesn't make a noise when it goes. Also take photos of where all the hoses and wires run before you remove - it was something I'd not thought about and had to look it up to make sure that the connectors were all running the right way round so that they reach properly.
Otherwise just take your time and it should work out - good lighting also helps to see what is going on while you try and get to the difficult ones underneath.