Remove the ignition coil cover, coolant expansion tank, and lower engine cover. Next, take out the complete exhaust system along with the oxygen sensors specific to N51, N52, and N54 engines. After removing the fasteners from the rear exhaust manifold, detach the manifold. For installation, reverse the removal process while ensuring to clean the sealing surfaces of the manifold and cylinder head, use new gaskets and hardware, and check the exhaust system for leaks.