The PCM is not bolted in, it just slides out, towards the interior of cab. There are two clips on the bottom edge that just need to disengage.
I dont remove the harnesses at all, just twist the PCM out and all wires are long enough to sit PCM on the glove box door. So I dont disconnect batteries either. If I were to remove harnesses then I would disconnect the batteries.
When installing new chip you can ensure everything is good before putting back in by turning IGN on and if you get the Glow cycle its all good. If you dont get glow cycle then something is wrong. Dont crank unless you see the glow cycle. If everything is good and still no glow cycle then swap original chip back in.