It is way easier with the lift. And with a car that has lug bolts like the Beetle instead of lug nuts, it's even easier if you just barely get the tires off of the floor before doing the swap instead of having them a foot and a half up in the air, and then you have to hold them there with one hand (or with your jeans-clad legs...) while you get the first bolt started. Those things are over 50 lbs. apiece.
I've had 3 cars with them. I'm so used to jacking up just barely off the floor that I don't notice any difference between the two arrangements. I have encountered broken-off and buggered-up studs and bolts, and replacing a bad bolt is a lot easier than replacing a bad stud.
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