If you look in the repair links Dangerousdan or was it Dangerous Dan I believe is the one that had a decent write up on the starter take down and rebuild.

Be sure to clean out the sockets on the bolt heads. But,
I still had trouble getting the starter bolts off with the extensions and U-joints with an allen socket (10mm allen head) or old age just made me really impatient.
I drilled holes through the Fire Wall to get at the Starter Bolts feeling it could be useful if I had to get at the starter some times. But, my Car is a beater and has rust and was hit and run x2 so I don't need to worry about keeping it in premium condition.

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84 300D, 82 Volvo 244Gl Diesel

I have read that write-up. I could do it, but, without lift, I am not going to try. Lying on back under car not recommended for 80 yr olds! Have friend with lift, but long tow needed to get there and then hard to move unpowered cars around to access lift. So CAA will tow car to nearby shop. They replaced starter on my 107 (2 1/2 hrs labor), which is even more difficult to get at.

Once starter is out, I will look at whether it is worthwhile trying a DIY repair.

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Graham
85 300D,72 350SL, 98 E320, Outback 2.5