I've done both front doors, as they both eventually died. I used a $170 replacement on eBay, but it looks like you can just replace the electric motor for a lot less according to another poster above. It only takes a couple hours. Hardest part is wiggling the assembly out of the door.
What I can recall from memory:
Remove the door panel (I've seen other how-tos on doing this) and weather shield
Remove 2-3 bolts holding the actuator assembly to the door frame
Remove the 3 bolts holding the jamb on
Reach up in the door and disconnect the outer door handle
Disconnect the electrical harness
Wiggle the entire assembly out