I know this is really old but wanted to post my findings. I have a 2002 as well and mine has 3 T-8 torx screws holding the pad on. You will need a Naro Driver to remove them with the panel still fully assembled.
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John Jordan New Member
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wmwny Well-Known Member
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stick a popsicle stick in from the front side and push the whole thing forward
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Steve AdministratorStaff Member Articles Moderator
Right, assuming your R53 is post-09/2002 (according to my Haynes manual). The armrest slides forward and the clip that keeps it in place is under the front. From the Haynes: