Hello guys I have to replace my engines wiring harness AGAIN I ended up putting the wrong one in and well
this would be the 4th time pulling the motor I really wanna just take off the intake manifold and swap harness's in car

Does anyone know how to remove the manifold while engine is still in car?

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Just unbolt it and push it out of the way. I don't think you can take it out without pulling the motor.

 

I heard it's possible without removing the motor...

 

its possible put a pain in the @$$ to take out!

 

It can be done, I did it. Service Manual is available here on SL folks.
Follow the knock sensor replacement section, and you can remove the intake.

https://www.scionlife.com/tech/manual/?manual=tc05_1284