1991 Toyota 4Runner Starter replacement

Need to replace starter - no matter how many time I try - cannot access bolts to remove. Can't see from top, bottom and from side can see top bolt, not bottom. Can't get access to turn wrench if I could see. Manual says lift auto and place on stands - that provides no additional access. Manafold on top prevents access, front end prevents underneath access, brake lines prevent side access. How does one change this starter. I have changed starters on other vehicles and this is infuriating. Please provide the insiders secret.

Thanks Art K