Installing the SW Motech crash bars was one of the most difficult things i've done on my 2012. Having a friend to assist is a big help. A long flex socket extension also helps.
For what its worth, when I had my rear shock off this past winter it was super easy to take those rear bolts out. I took the opportunity to apply blue antilock and torque them to spec. Two of the bolts had loosened up a bit in the two years since I installed the bars, so I was glad I took the time this winter. My experience makes me wonder if it would be worth pulling the rear shock to make access to the rear bolts easier since it really wasn't tough or time consuming to do.