The quickest way I find is from below using:
Torx socket, swivel, 3ft extension, ratchet w/ cheater pipe.
Best is w/ torx socket w/ built-in swivel, 3 ft extension, ratchet w/ cheater pipe.
ONce the two main bolts are removed, from below engine, unthread the cable clamp that's bolted to the engine block below the starter. By doing so, this allows the space for the starter to drop down to the ground. Then slide starter out of bell housing, shift and lower it down to the ground.
If you do this right, you should be in and out of this repair in under 30 minutes.