I don't remove the steering wheel cover either. Just hold down the steering wheel tilt lever while pushing the steering wheel at the same time. While still holding the steering wheel down, pull out the cluster and slide it to the right or left. I've done it both right and left, but I prefer the right. Yes, you need to tilt the cluster to face downwards when removing.
Just be careful with that trip reset needle. It can catch on many things coming out and going back in. You don't want to break it.