But to address your issues...
Are you sure the inside of the lenses need cleaned and not the outside? Because you're talking a whole different ballgame if you're taking the headlight assembly apart. I just removed my headlights and you can't remove the lenses without effectively ripping the sealant stuff apart and bonding it back together when finished. But I'm not 100% on that part, I'll leave that concern up to the "experts" that will likely chime in.
To remove the headlight, you need to jack up the front of the rig, remove the wheel(s), remove fender flare arches, remove the wheel well liner (front portion) that has about 20 screws.
The next part supposedly may vary, I dunno, but this is what I had to do:
Remove the 3 bolts holding the lower oil cooler in place on the driver side wheel well to let it hang.
Loosen up the fender support frame that's in there because for me it definitely prevented the headlight from coming out
Remove top bolts from fender that run along the engine compartment
Loosen bumper from fender (should snap apart in multiple spots, be careful)
Remove the 5 bolts holding the headlamp in place from in the wheel well, you can see them now.
At this point, things should be able to "wobble" around enough to slowly pull the headlight back out of the wheel well.
Let me know if you have more questions.