FYI, you can do this without taking the covers off as long as your wrists aren't too fat. I just took out the floor cover and was able to loosen the base of the side cover just enough to get my hand inside there. The adjustment knob is the only thing there, and it even has a little detent at the factory preset setting so you don't need to guess where center is.
I will admit I adjusted it without taking off the side cover because I couldn't figure out how to get the side cover off without taking off the front cover, and couldn't figure out how to remove the front cover without putting down the center armrest, and couldn't do that without taking out my newly-installed child carseat, so...
If anyone knows the easy way to remove that side panel, I'm interested...