560 SEL Starter Removal Help Needed

Hopefully someone can advise me on the procedure to remove the starter from my '87 560 SEL.

I first removed the cables from the battery and this is about the only thing that went well. Because the starter is nearly invisible from above, I went under for a look. I located the starter and could see the bottom mounting bolt which carries a ground strap. The upper starter mount bolt cannot be seen.

I attemped to loosen the lower bolt, it seems to be sort of recessed and I couldn't really get much purchase on it. It looks like a tie rod would need removal to be able to swing the wrench. The upper bolt seems impossible!

Am I approaching this all wrong or is starter removal a bear on this vehicle?
Is this a "special tools" situation?

To access the starter from above seems to require removal of the exhaust manifold and more.

I would definitely appreciate any advice.

Thanks,
Art