I did it on stands a few weeks ago no problem.
Remember to undo the bolt at the bottom of the steering column behind the pedals in order to drop the subframe.
Undo the droplinks.
The undo the subframe bolts, lower it on a jack. I left my wishbones attached and let it hang from those, there was plenty of room to get the manifold out.
Remember to disconnect your battery... The starter motor is live and it's easy to shower yourself in sparks and electrocute yourself in the process, ask how I know haha.
What brand of manifold are you replacing it with? I'd avoid toyo, wish I'd got another genuine Renault one instead