It's not that bad, honestly. Maybe you could loosen one side at a time to get one headlight assembly out. But you need access to the lower fasteners which are behind the front bumper cover.
But you can easily polish the headlights without removing them from the vehicle. I've done this myself several times.
I use 1500 grit and 2000 grit wet sandpaper to get rid of oxidation and hazing. Then I polish the headlights with my random orbital polisher, medium foam pad, and 3D One polishing compound. Works really well. Afterwards, if you give the headlights a good ceramic coating, it helps keep the hazing from returning.