Yes, you gotta pull the whole unit out, and there are two coaxial antenna connections on the back. It's really not that hard, I've had mine (04 LC) out several times.
Chalk your wheels, pop the cover and hit the shift release moving the shifter all the way to the rear position. Next you need to pull the vent covers on the left and right of the NAV unit, these can be tricky. A plastic trim tool really comes in handy. Start prying at the bottom and work you way up. Disconnect the connectors on the back of the vent pieces and set side. You will then see four (4) socket head phillips screws, remove those and the whole unit will come right now. There are half a dozen connectors on the back, but you can lean the unit out far enough to connect the antennas without removing any connectors. Reassembly is easy.
Total time taking your time, 30 mins.
