I know this is an older thread but wanted to add to it for future searchers as our cars age and the vulnerable center heater hoses begin to fail. My heater hose (from heater core to engine block) ruptured at the block. Spent most of the day repairing it. Having suffered and wasted so much time, thought I'd make it easier for others as info on removing the starter is non-existent on the web.
Some pointers/additions to the info above and on other sites.
1. No need to take off the intake to do this, although it would make access very easy. Not worth the extra work.
2. There is no access to the upper starter bolt. At least not on my 05. However, removing trapezoid-shaped metal intake bracket on the rear of the engine makes it possible and somewhat easy. There are 2 12mm bolts on the top of the bracket to the manifold and 2 larger bolts from the bracket to the block. There are also two wiring/harness plastic bracket, the upper one slides off/the lower can be pried off with a flat blade screwdriver.
Once this bracket is maneuvered down and out of the way, the starter can be removed. The upper bolt is now accessible with a 14mm deep socket and a short extension. Do not remove the long bolts that hold the starter to the solenoid assembly. If you do, some planetary gears will fall out and you still won't have access to the upper starter bolt. Just remove the two bolts that hold the starter to the block/bell housing like any old starter remove/replace procedure. Of course, remove the 3 sets of wires (ground/pos/solenoid).
The bolts on the bracket are hard to see from underneath so a good work light helps a great deal.
The rest of the job can be done with 90 degree or 45 degree long reach pliers (for the factory clamps).