These are not the puddle lamps on the outside mirrors.
My SR5 has lamps in the lower corner of each door. Some evidently do not, they must be part of a package.
They pry out fairly easily from the rh edge.
Disconnect.
The fixture has this housing on the top which has to come off to get to the lamp. PITA.
There is a latch on each end of the housing. Push it in to release each end. Pay attention to how it came off. After replacing the bulb it snaps back into place. Did I say PITA?
It's no wonder the owner's manual doesn't tell you how to do this!