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.
Some vehicles require the motor mount (on the side the starter is on) to be loosened or even removed in order to jack up the motor to remove and replace the starter.
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The starter is located on the passenger side of the motor rignt under the manifold. You can access it from underneath, or remove the right tire, and you can get to it as well.
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the starter should be under the intake on the back of the motor.
disconnect battery. from underneath disconnect solenoid wire and battery cable from starter solenoid. remove starter motor bolts. remove starter motor. installation is the reverse but be sure to place the starter shim between the starter motor and the engine or you will get noise during starts.
To replace the motor you start by removing the exhaust or you can undo the mount and lift out the motor. Consult owners manual for additional information.
it should be located behind the motor underneat the intake manifold. it's not exactly the most comfortiable item to remove from the car.
# Disconnect the negative battery cable # Remove the air intake duct and the air cleaner assembly # Disconnect the speedometer cable from the transaxle # Unscrew the nut and disconnect the battery cable from the starter motor then disconnect the wiring from the solenoid # Remove the starter motor mounting bolts,supporting the starter motor as the bolts are removed and remove the starter motor