Be careful with that extendable pole with either a little grabber or suction cup. It should work, but it's pretty easy to break the bulb, leaving the broken off stem still screwed in. I did just that a few years ago. I waited until it was time to paint the celing anyway, and had the painters change the bulb when they put up scaffolding.

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2002 E320 4-Matic
2008 Subaru Outback
2009 Subaru Forester