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You should be able to do this yourself. The sockets pop out easily (check your users manual).
I had a tail light out last week. I ended up replacing all my rear lights (bulbs are cheap!). For each bulb change, I pulled the whole socket assembly (all 4 of the), cleaned them, applied an electrical contact cleaner, inserted new bulbs, and then inserted the sockets again. In total, about 20 minutes of work.
I am 95% confident that you could change the backs of the socket (where the bulbs go) without a re-program.
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