I didn't read that section of the manual in depth. I saw the roll-em-down-roll-em-up method on this site, remembered if for later use, and it worked when I needed it.
The ECM and BCM (BCM controls windows) have some capacitors that will keep them energized for a few minutes when power is removed. If you change the battery fast enough, you may not need to re-init. If you ever want to discharge the modules in a hurry, just step on the brake pedal for a few seconds after disconnecting the battery (another trick I learned on this site).
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