^Yup, midpipes are easy peezy. To make lining up the pipes easiest when installing, loosely bolt up the tranny-to-pipe brackets first, then it's even easier to line up the front and back portion of the pipe and bolt it all down.
Primary downpipes are tight and tedious to reach, but can be done with some extensions and a really good U-Joint (personally I think the impact u-joints are best, they don't bend/flex too much). The AWD is harder than RWD because you've got more hardware in the way (ie axles, front diff), but it's still doable.
The most important thing is to spray each of the 4 nuts liberally with PB Blaster or something similar in the days leading up to removing them, or you risk ending up like a fool like me. Order new nuts and studs just in case before installing.