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You can definitely do it without taking off the door panel. You essentially just take off the housing screw by screw after you take out the actual glass part and it’s fairly straightforward. The only challenge is as above, when you need to pry the actuator off the plastic ball and you can do...

Yes I did! Basically, behind that white piece is a plastic ball on a stalk. The feet on the white piece are anchored into a metal ring, which is smaller than the ball (This is why it is really tough to pry off). You need to get the feet of the white piece out of the metal ring, and really pull...

So I did something stupid and backed out and just clipped the edge of my passenger side mirror. Thankfully it was only the flat black housing which was broken on the mirror and the heating/power/camera were all still intact, so I ordered the housing only online. It's a fairly straightforward...