As Dakota described, if you have that 4X4 configuration, you won't be able to get the starter out of the space between the front differential and the oil pan, so you might as well address that first and buy yourself some extra room to work. There are two bolts (one on each side, not just one on the passenger side) that will let the whole differential flex downward and give you just enough room. Simple to do. Don't bother pulling the front driveshaft, as that doesn't help anyway.
I found the easiest way to get to the upper starter bolt was a 3/8" flex head ratchet, a flex socket or wobble extension, and about 6" of extension -- just enough to get the ratchet handle to the back of the starter, and just a bit to the side. That way, there is enough room to swing the handle pretty easily. Some mention going through the wheel well, but that seems a lot harder to me. A lot of people mention using long extensions and reaching over from above and in front of the cross member. That is a very unwieldy combination, and at least on my configuration I couldn't find any path through that way. Lowering the diff only takes ten minutes and then you can reach it fairly easily. Leave the lower bolt in place until you get the top one out because it relieves the pressure on the upper bolt from the starter hanging on it.