You don’t have to remove the body. While you can pull the engine out with the body on, it’s not worth the time for cam phasers. And you you find yourself in deep and can’t get it done inside the frame, you can pull the motor at about any point.
Get yourself a one-month subscription to AllData.com. (Or AllDataDIY.com or something like that) It’s like 20 bucks and will walk you through the whole thing.
In procedures, there will be a “cam phasers body-on (raptor)” procedure that is step by step.
Take your time and follow each step you’ll be good.
Take the wheels off and lower the truck, that helps the arms.
Lay something over the AC radiator if you find yourself resting on it a lot as it’s soft.
AllData.com will show all the special tools needed. Primarily the cam alignment/holding tool.
The only really use I’ve had with the phasers specifically is some of the alignment tools are soft/out of spec and will bend and move, making it a pain to break loose abs torque cam gears. You can use a plumbers wrench to hold a cam in place if needed.
It’s not too bad. Take your time, follow instructions.