disconect the battery
remove the wires from the starter
remove the bolts that attach the starter to the back of the motor(air ratchet is a big plus for this)
old starter slides out, new one goes back in the reverse order.
It is really a lot easier than you are making it out to be in your mind. It can all be done without a jack, or even removing a tire.
I can do mine in about 30-35 min. longer if I have to shovel out the truck to get to it.
2004 XE Shrockworks front with winch, ARB Lockers front and rear, Calmimi steering, Sliders, 3inch SL, custom rear bumper w/tire carrier, bumper lights, custom roof rack, CB, Laptop mount, Sgt lobo, missing rear swaybar, Quest Alt, diff drop, Aux e-fan, Fuse block, tranny filter and cooler, axle truss and skid, Nismo cat back,Mile Marker hubs, Thorleys, 33's .