The license plate bulb enclosures are pretty easy to remove. There is a metal clip on the left hand side of each that has to be slightly pressed towards the right. I got one of those plastic trim removal kits from ebay and it was easy. If you use something like thin screwdriver, be careful not to scratch the paint.
I found that if you replace one side, you do not get the warning, but when you do both, the warning appears. I was going through some old posts and found one where a BCM flash update fixed the warning issue. So I may be making an appointment to see if all of my systems have the latest software.