David Craig - these are good instructions, but it's really not as hard as it might seem when you write it up step by step. I also have an '09, and maybe because it's newer, that is, the glue isn't as old, the sills weren't stuck all that securely. It is tricky to realign the front tabs, but once you see how they are made, it's also fairly intuitive. After removing all the screws, just get the back end started, and pull straight up at the back, so that the front end moves mostly straight down, and disengages from the air vent surround. On the drivers side, you can remove the upper part too. On the passenger side, you'd have to remove the airbag cover because it overlaps the end panel.
I didn't remove any glue or tape from the chassis. There was some sticky tape on the bottom of the sills, and it came right off. I completely replaced my panels with Trim Shop items. There was plenty of glue and tape left, enough that the new one stuck right down, and I didn't even put the side screws back in (the Trim Shop panels didn't have the holes pre-cut through the leather, and it looks better without the screws anyway).
Removing the rear panel is harder, but mostly because it doesn't easily come out from behind the seats. I had both my seats out for other reasons, but it could be done with just one out - not sure if possible without taking any out. You have to remove those pesky plastic push fasteners, and the interior light, although that's easy to push out from behind if you can see the tabs that hold it in - and the speaker wires. Maybe the seat belt anchors, but I can't remember if that's necessary. You can remove the seats without completely disconnecting the belts, just watch the recoil