Compression Test

I drive a 1996 Intrepid (3.5L) with a little over 307,000 miles on it. I believe that it is still in good shape, but I would like to run a compression test on it. The easiest way would be to remove the plenum to get to the plug wires and the plugs. But the Factory Service Manual says that it should be done on a warm engine. If that's the case, is there an easy way to remove the plugs without removing the plenum? Or should I remove the plenum and perform the test on a cold engine?