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Assuming the starter is accessible.
First, disconnect the battery.
Disconnect the wires from the solenoid. 2 posts w/ wires I believe.
Remove 2 bolts on bottom of starter that connect it to the engine block.
Pull the starter motor out.
If there are any shims between the starter and block, be sure to reinstall them. (There probably aren't any.)
'06 X2 MCX
"I understand why some people may not want to do this the way I have recommended but I can't understand the death grip some people have on a toilet plunger with a hose fitting." -JimN
No need to actually pull the starter, it'll try to fall out by itself. Loosen the two bolts until they're almost out. Then remove one bolt so you can get into position to hold the starter up while you remove the last bolt. Put something under the starter in case it falls, so you don't damage anything. These are fairly heavy.