Some guys get the top bolt from up above, but a fair amount of disassembly is required. You can do it from below if your tool box is full.

Tear off the corner of the insulation pad until you can reach up to the top bolt. You need a 13mm universal, about an 8" extension, then a 3/8" to 3/8" drive universal, then a honking long extension to get your ratchet out back towards the trans mount plate. It's a pain, but the best of choices. You can drop the trans mount plate down with a jack underneath it if you want to, that was the factory procedure to gain more access.

You have to drop the left side of the rack to get the starter out, just the two bolts that hold the LH rack mount to the crossmember. You can leave the pinion pinch bolt in. It will make life easier if you remove the bolt that holds the two dipstick tube brackets in place, and pull the oil dipstick tube out. If you have to move the trans tube a little, crack the 30mm union nut loose to swivel the tube but you do not have to remove it (which means draining the trans).
If it was easy, everybody could do it.

 

The steering rack. You can't get the starter out unless you unbolt the steering rack to move the lower steering column out of the way.