Does the 2002 really differ much from the 2000? 2000 is quite straight forward. The back plugs are a little trickier to get at simply because they're at the back but otherwise I think at the most you have to undo a couple of bolts for the throttle cable (I think 2002 is drive by wire so probably not worry about that). Then just unhook the ignition coil wiring harness, undo its single bolt, then down with your plug socket and take it out. Absolutely the manifold did not have to be done. I'd say it is a very straight forward job on the 2000. My mazda MPV requires intake manifold to be taken off and that is a real pain in the ass compared to the maxima.
Fuel filter is likely similar to the 2000 in which case replacing it is a big pain in the ass (in the trunk or behind a seat or some silly sh*t). Most owners never do; I got rid of my car at 134k on original fuel filter.
Haynes I don't know if it has a manual for that car. I had a haynes that covered 95-2001 maxima. It may be that the 2002 is different enough that they couldn't cover it in that publication, but it's got to be mostly the same as a 2000 or 2001.