You have to make sure BOTH cables are loose.
The negative side of the cable is much easier to get to from under
the left side cover.
Remove the fuse box panel (3 screws if I remember right, two top and one lower right).
Then, from under the right side cover, remove the positive cable and get
it out of the way.
The battery will then tilt up slightly and pull straight out at the slightly tilted angle.
I posted while frustrated. It took more re-arranging of anatomy than I expected. The only way I could tilt the battery up enough in the end was to move the solenoid. No big deal, but I didn't expect it. I'm surprised they engineered this to tilt up so much to fit in and out.
Then again, I'm used to batteries that go straight in and out on all our other, older bikes.