Is it difficult to change the upper intake manifold gasket on a 2002 chevy impala?
The difficulty is relative. If you have some experience repairing automotive engines, it not particularly difficult but it is fairly labor intensive. If you don't have any experience, bite the bullet and get someone who has to either help you or do the job for you. There are a lot of parts that will need to be disconnected and/or removed in order to get to the gaskets. You will also need a torque wrench when replacing the manifold. I recommend you take a lot of pictures before and during disassembly so you will know where everything goes when you start putting it back together. Number the plug wires so you know where each goes, and put nuts and bolts for each part in separate, labeled baggies.Also, if you plan on keeping the car, replace the lower gasket while you're in the process. You're almost there anyway and chances are good it needs to be replaced or soon will.
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If its going to be a fairly extensive teardown he would be time ahead to pull the heads and replace the head gaskets also. Those do wear out from the constant combustion. Most will go for about 150,000, after that its just waiting for the right moment to start leaking. I had one that started getting antifreeze into the cylinder because the gasket was eaten away.
probably but if you get a good manual it might have the best way to proceed.