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I wouldn't pull the bumper, it is more work to get that lined up then the gate is.
Don't remove the bolts, just loosen them a little. then pull/push on the gate, and shut it. Once you have it right, get back in there and tighten it before you bump it and move it again.
I found a 3/8 inch rachet with a couple universials and extentions worked best for the bottom, and an open/box wrench for the top one.
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