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Download a factory service manual, and read about the procedure.

 

There are you tube videos about this exact repair.

also Google 199 ( your year) fuel injector repair.
Its been covered many times in this forum .

you can have your injectors rebuilt for a reasonable price. Consider working on other stuff that's under the intake manifold.
valve cover gasket
egr and it's tube.
knock sensor.

replace all 3 rear injectors. Or you will need to remove the manifold more than just once..
better yet. Replace all injectors.
Cry once and be done for many years.

edit. I don't remember if #5 is the front or rear of the engine. My comments are based on the rear ones.
removing the intake manifold is a PITA. So repair anything under there while you can. Or you will need to remove the PITA manifold again .

 

Can you explain how that works? How is anything going to be seen when the engine is sucking in all the air that could be leaking anywhere in the intake?

 

The injectors in our cars fail in a predictable manner.
Those of us who have been here for years or a decade can diagnose a bad injector quite well.

How long have you owned your Maxima ?