I recently changed my starter. It is possible to do with the engine in without cutting or damaging anything although it was difficult. Having been through the exercise, I know the tricks now to make it easier. Here is the process:
-List of tools: 2 36mm open end wrench, 33mm open end wrench, endoscope, small wooden dowel, 19mm open end wrench, short 17mm 12 point socket 3/8" drive, 3/8" drive ratchet, several different length 3/8" extensions, inspection mirror, cheater iron pipe 12" lon