Shouldn't have to remove the window. I've done all four doors without so.
Pulling chrome trim off door, and undoing the lower window regulator beam bolt... creates enough slack to move window over a bit to get a ratchet box end wrench on the bolts you need to get at.
I noticed that too, it does work that way. It was just only a tiny bit more work to remove the window than just to push it out of the way and seemed a whole bunch easier to do the task. Maybe I just don't have very good coordination!