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I just did this last weekend. Disconnect the negative battery cable. Remove the splash gaurd. It has to be removed from underneath the car so jacking up the front end is a good idea as it gives you more room to work. It's located on the passenger side, right next to the catalytic converter. You need to disconnect the plug and bolted on lead going to the starter. Just squeeze the plug and wiggle it out. You will see how it locks onto the starter. The other lead is just a nut. Now take out the two bolts holding the starter on. The top bolt is easy. The bottom bolt has a transmission line running right over top of it and you have to use a wrench making quarter turns to loosen it. It's tight but the starter will slide out between the catalytic converter and the front differential. Spaced is tight but not too bad of a job. Get yourself a Haynes manual and it has pictures to walk you through.

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Q: How do you change the starter motor on a 1998 Nissan Pathfinder?
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