This is one of the first things I did after buying my G500.
For the bolts under the rocker, as mentioned, the clearances are pretty tight between the exhaust heat shield and the hardware. It is pretty doable but also a bit frustrating. If you are a beer drinker I would recommend having one before you start the job.
The screws that hold the end caps to the fenderflares require that you open the adjacent fender liner to access the non-captive nut on the inside of the fender flare. The bilateral side step removal can be done in about an hour.
Be aware that after removing the side steps the exhaust will be readily visible on a side view of the truck, and is not particulaly attractive. If you are married, expect a comment from the wife on how the truck looked better with the side steps on.
This is a good job to combine with installation of a rocker protection rail like that sold by G-wagenaccessories or the MB factory rocker. They will both hide and protect the exhaust. Your side steps if undamaged should fetch about $350, so that can defer the cost of the slider rail significantly.