You need not remove the whole front bumper.
Basically what you have to do is remove the top black plastic paneling overtop of the front of the engine compartment by removing the plastic push pins. From there you will have to remove the side marker lights (these come out by one phillips screw attached at the top). Once you get the side markers off, you will see two bolts with nuts on them protruding from side of the headlight assembly, remove those, then there will be one bolt on top of the headlight assembly, remove those 3 and wiggle it out moving toward the center of the car and they should come right out.
2001 GS300-138k, Millennium Silver
2001 ES300-162k Sold