Here you go - rather than give you the OHV video - I found this one for a 2003 Explorer w/ 4.0 SOHC & 4wd. El Duderino gets it out w/o disconnecting anything in the front drive line.
Link:
Also - here's a few tips I just thought about.
First - Get your EX waaaayyyy up in the air. The more space you have below the better for this repair. It'll help keep you sane. Seriously.... You want to be able to lay back and have at least a good foot of viewing area to take in your "battlefield". You'll have a much better perspective on what you need to do. I had 4X4 blocks of wood under my jack stands, which in turn were fully extended. It really helped...
Before jacking your Ex up in the air, for removing and replacing the TOP starter motor mounting bolt; remove the drivers side wheel, and go in through the wheel well. Waaaayyyy easier than trying to work your way around the body of the starter motor from below...
Bottom Line - Once you get the two mounting bolts removed, and the solenoid wire and battery cable disconnected, let that starter motor be like a friggin' gymnast and try to remove it at all sorts of angles while twisting it. Once it comes out, and you're done celebrating, all of a sudden you'll be stressed out thinking "how the heck am I going to get it back in there". It's all about the angle of attack and the twisting motion...