It depends if your starter body is threaded or not. If it's 96+ it probably is. I just remove the transmission brace, loosened the engine mounts and tilted the engine and transmission down a bit, and used a super long extension with a u-joint at the end. I'm pretty sure I had the driveshaft off at this point as well though which made it easier to tilt the motor, but I didn't actually need to remove the starter, I just unbolted it from the transmission bell housing. That said I'm pretty sure there is enough room to run an extension or two with a couple u-joints to undo those two bolts without tilting the engine much, or at all. It's been a while since I've been under my car though.
By the end the starter is probably going to come out via the engine bay anyway.
"Driving is like a narcotic, an addiction that can take over lives. It ruins people, breaks families apart, and even kills. Itís habit that needs to be fueled. Time, money, rationality, sweat, knuckle skin, and anyone who disapproves are of little importance to a driver, and are often overlooked. Hi, Iím Nelson, and Iím a drivaholic."