Anyone Changed a Starter Before on a Chrysler Pacifica???

Hi All,
I believe I have a bad starter in my 2005 Chrysler Pacifica w/ 3.5 engine. I was wondering(and hoping) someone might be able to tell me if it's possible to remove exhaust manifold & pull starter from up top? I've seen 1 YouTube video claiming one can, but it just shows starter & manifold removed already. I can't find anything else that backs it up. Looks a lil bit entailed removing it from the bottom....especially laying in a gravel driveway! :/
Any help is Greatly Appreciated!!!