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Just did the rears on my wife's 2007 GS350. What a Pain in the butt job. Getting to the strut towers in the trunk was not that bad. Bad part for me was getting everything lined up underneath the car to get the bolts back in lca.
This really is the only hard part of the job. I found the easiest way was too sit on a small stool or bucket, and push down on the rotor with my feet to get it to line up, and then push the bolt through. Sounds awkward, but it worked. The rotor part actually needs to go down to line up, which isn't what I expected.