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Remove interior door trim. There will be screws as well as plastic pins that have to be pried out. Wind the window all the way down. There will be some tracks in the lift mechanism with rollers that are attached to the window frame. Locate and remove the bolts that secure the frame. The window should then come out.
I just replaced the antenna on our 02 rodeo. No need to remove radio or anything in dash. This is how I did it. First you will need access to back of fender, enough room for your hand. Open hood and remove 3 bolts running along top of fender, open passenger door and remove top bolt holding fender. Gently pry top of fender away from vehicle. Place object in gap to hold fender ( I used the head of a rubber mallet). Reach inside fender and disconnect old antenna, follow cable through wall into passenger compartment. Gently pull cable from behind carpet and unplug old antenna from coupler. Connect new antenna to fender ( replacement antenna I ordered was slightly smaller than opening so I had to add washer). Run new antenna cable through wall and plug into coupler. Re-attach fender