You can do it! It may help to unbolt the transmission mount to gain more access to the 10mm allen bolts that hold the starter in place. Make sure you have about 2 feet of extenders and a universal. I recommend using 3/8 drive to save space. 1/2 drive could be bulky. The manuals all say to unbolt part of the steering assembly to get the starter out of the car but I found another way. 1) Put the car on two jackstands, you will need to anyway to work 2) Leave the drivers side tire on when you prep for the job. 3) Turn the key so the steering unlocks. 4) Wrap you legs around the drivers side tire and use your hips to gently maneuver the steering back and so you can get the starter out. You will need to turn it upside down.

It's a very laborous task but you can do it. I could not get the job done for less than $400 including the parts so I had to get serious.

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1982 300D Turbo "Helga"
380,000 miles