I need help replacing tail light for 2003 Toyota Sienna

I'm not exactly Mr. Fixit, and I don't want to make a minor repair a big ticket repair; I would greatly appreciate any and all help from those in-the-know.

Question 1: do I have to take off the door panel on my rear door to replace the tail light bulb? If so, what are the proper steps for doing that?

Question 2: do I risk breaking any clips or other plastic parts in the process?

Question 3: would I be better off swallowing my pride and paying the dealership for replacing the bulb?

Many thanks for all of your help!