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Replaced one on my first RCZ and you can just about get to it from underneath the car but it’s a squeeze for the arms between the oil sump and exhaust. I’d suspect the correct way of doing it is to remove the inlet manifold and work from the top.
If the problem is that you have fault P2263, before changing the solenoid valve, you should clean a small filter hidden behind the rocker cover.
It happened to me that they changed the solenoid valve but the fault continued to appear until I discovered and cleaned that filter.
In order to remove the exhaust section you need a special tool to open the clamps.