I know how you feel. After fiddling around at the back of the headlamp, braking things and scratching your hands. Taking the bumper off looks like the easiest option. But taking a bumper off can lead to their own problems. I should know, I remove and refit bumpers all day long. I don’t want to sound rude, but if you had a problem with the side lamp bulbs, removing the bumper might send you into a flat spin.
My advise would be, give a body shop a call. They fit troublesome bulbs every day and their hourly labour rate is a lot lower than a mechanical garage.

Good luck
Jon