Yes, in this case ignore the service manual which has you gain access from below the front bumper.

If you turn the wheel all the way in at the front and remove the wheel, you can easily gain access to this area. It takes a little patience, but it's overall an easy job.

I had to replace mine for the same reason (rock chip) which turned into a completely broken lens after the car wash water hit the hot light. I tried for the replacement fog lights because they were different, but they wouldn't budge because the small metal caps had not come off (broken lens or not). I guess I should have 'prodded' the cap off them and taken them to another dealer, but I was just raised to honest for that. I bit the bullet and bought the pair and installed them myself.