You don't need to drop the motor to remove the manifold. I have done several. There is some reaching and there's not alot of room to work but there's enough to take the bolts off. Just make sure you work front to back to remove everything in your way to get at the rear bolts. As an FYI, you might as well do the lower intake manifold while you're at it. You just need to remove the valve covers and the 8 bolts in the lower intake. The gaskets are sold as a kit for upper, lower intake, and valve covers. The kit is around $50.00.
Here's the correct procedure for removing the upper intake manifold: