SFront axle just pull wheel and caliper and rotor slides off. Same with rear axle. Also Manual says to mark rotor and hub on fronts and rears before sliding them off.
Hmm, I just did my rears(with AWD) and it was a bit more than just sliding them off.... The rear rotors are unique in that they also incorporate a set of brake shoes and drums for the parking brake...
There is a hole with a rubber plug in the rotor that you remove with a screwdriver. It covers a pair of adjustment screws in the emergency brake gear underneath,mounted on the backing plate. You may need to back off the emergency brake shoes to slide off the rotor for turning.
The AWD also has a large nut in the center holding everything on. You'll need sockets up to 19 mm for the job, and a much bigger one for the big nut in the middle (I forget what size, but a socket from my cheapo 3/4" drive set worked).
There is also a suspension arm on the forward side that is in the way. I found it easier to pop off this arm on initial disassembly, then reinstall at the end.
Overall, not that difficult for the average backyard mechanic.
It was interesting (to me anyway) that my back brakes were at 5% after 37Kmiles, yet the front pads have about 50% remaining. It is the opposite of my experience with other vehicles.