Here's the Body Builder Manual for your rig - lots of helpful info in here regarding wiring diagrams, functions, etc.
As far as removing a side panel - it's a pretty big job to completely remove the panel as you have to unbolt the end of the seatbelt from the floor and push it back through the panel to then remove the panel. You can however loosen the panel quite a bit and get decent access to the backside of it.
First remove the rear cargo sill. It's held down by metal clips, so you'll need a plastic trim tool to pry at a corner and once a couple of the clips release you can keep pulling to remove it completely. Next, lift the cargo compartment lid and you'll see four large plastic nuts holding the compartment to the floor. Remove those nuts and then the compartment lifts right out of the rig.
Next, remove the D-Pillar plastic trim. The first piece without the speaker grille needs to come off and then the piece with the speaker grille is held on by one 7mm head screw and a few metal clips. With that trim removed, take off the plastic nut used for the cargo net and below it the metal D-ring. Now you'll have access to pull the side panel away from the sidewall and have access to the backside. Good luck!