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I just changed the plugs (and one COP coil) on my 2002 Escape V6. Yes, you have to remove the upper intake to get to the 3 plugs on the rear bank. It's not very difficult. The o-ring -like gasket set is about $10 from Autozone.
Depending on which motor you have will determine how to change the pack. I am not familiar with the 4 cylender motors but I assume that they are in the open. If you have the V6 then you are in for a little work. There are 3 packs in the front of the motor that are easly accessable. You will see them right on top. The other 3 are hidden under the intake manafold. If you are certian that it is a pack from under the manafold, Cylenders 4,5, or 6. Then do a search on how to change the spark plugs and you will find a very good page on how to get that manafold off. You will need new upper gaskets after removing the manafold. The new pack, and you may want to throw a new set of spark plugs in while you are there. If you have close to 100k miles on it then I would recomend that you change them while the intake is off.
I have a 2002 Escape V6 w/ 100,000 miles and I just changed the plugs. If you have a V6, you will have to remove the Upper Intake manifold. It's not too bad. You'll new a gasket set from Autozone or NAPA for about $10