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You do not have to completely remove the glass, although you will need to keep the glass up and out of the way. With the window all of the way up you can use some masking tape to hold the window up. If you can roll the regulator to the down position it will allow you to pull the regulator out. You have to move the regulator just right to slide it out of the door. Sometimes you have to turn the base of the regulator towards the front of the vehicle and pull the top out first. I have attached the instructions from the shop manual they are fairly poor though, CLICK HERE ..... Sometimes you can cut the cable on the regulator to move it enough to get it out. Although generally you can move it around to get it completely out.
Ford Technician
ASE Certified for Engine Performance / Electrical. Been at a Ford dealership for 4 years.