My first time doing this I had the same issue. I lost the C clip from the top pin behind the fuse box. Tried retrieving it with one of those telescoping magnet tools but no luck.
Ended up pulling several panels to get at it. This was in the middle of December with a car I just brought home few days earlier. What a PITA. After closely examining the arrangement, it became apparent only the bottom pin/clevis had to come out.
The trick is to insert the pin part way into the clevis BEFORE lining up the clevis with the rest of the assembly. In fact, begin with the pin facing you (while partly in the clevis). As i depress the pedal with the left hand, I line up the pin/clevis with the rest of the bracket. At the same time, once lined up, push pin (with right hand) all the way through. It seriously took me longer to type this out than it would to do it.
Also worth noting, although the clevis may appear symmetrical, I don't believe it is. One side of the part is stamped with 2 small circles/dimples. These should face to the right/passenger side when installed. Otherwise, I've found it is difficult to remove it later.
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G37S Sedan 6MT, Eibach swaybars, Invidia Exhaust, Weaker Clutch Pedal Spring
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