They are definitely easy enough to change as they go out if you don't mind limping the car home when one fails. I just had one fail a few weeks back at 60k miles. Went ahead and finished my day as normal limping around then stopped by O'Reilly's on the way home and bought just 1, replaced it in the morning after the engine cooled down.
If I were you and you just want to replace one at a time I'd just keep a spare in the car because you never know when one can go out. That's what I do now. Good luck!
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