Rear is easy. Front not so much. I used a lift for the front...
Rear you can do with a jack/stand. I did it with one side up. Removed wheel and connected the end links. Put wheel back on and lifted the other side. Remove wheel and connect end link. I had to remove the wheels because I replaced the end link
Front I had to do on a lift and a support for the subframe. This is from a Golf R. The stock bar was pretty much impossible to get out without dropping the entire subframe. If you watch the video about them lowering it a little, it's not happening on the R. The brackets on the stocker are pressed in and it's a super tight fit trying to rotate it,