WARNING: This page is about a different car, the 2007 Nissan Pathfinder. However, it is still accessible from the selected car via links, so may be relevant.
Disconnect negative battery cable.
Remove IPDM E/R upper cover.
Fig 1: Identifying IPDM E/R Upper Cover
Release 2 clips and pull IPDM E/R up from case.
Fig 2: Locating Clips
Disconnect IPDM E/R connectors and remove the IPDM E/R.