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I did this on mine last month. mine is a 1.8 petrol (1zz-fe) but I'm sure its pretty much the same:

Remove theplastic engine undertray from below car (you will break some of the clips so it is worth pulling one out before you start and sourcing a few replacements from your local motor factor)

From under the car, look up at the stater motor and undo the bolt which runs through the starter motor and into the flywheel housing (you can clearly see this bolt from under the car an you need something like a 16mm socket).

Whilst you are still under the car, undo the electrical connections from the rear of the starter (13mm socket?)

Move to the top of the engine bay and hidden under the air intake / crankcase ventilation hoses on the front RH side of the engine is another big bolt (identical to the first bolt that you removed) which is inserted right to left (i.e. it is inserted through the engine casing into the stater-motor which is threaded to secure it. You can fumble around with a socket on a short (4"?) extension and remove it quite easily.

Now swear as you starter motor bounces off your radiator on to the floor.

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