You do NOT have to remove any trim panels from the roadster to access the tail lights.
Just cycle the top part way and stop where the top is up, and the tonneau cover is still raised.
You can then just reach in and access the sockets, or even the 10mm nuts securing the entire assembly.

NOTE : brace the tonneau with something as the hydraulic pressure will release after about 20 minutes, and down she comes !
I use a piece of PCV between the top bow latch and the tonneau latch.