See http://wiki.answers.com/Q/How_do_you_remove_the_starter . In the service panel, under the drivers seat is where you start. You will find three main starter bolts, and a couple of smaller ones on a small plate on top and is used as a top brace, steadying the starter from the top. The main bolts you need to get to from underneath. If you are getting the intermittent clicks, there is some good news. I did the first one at 194k, and later found out you can just replace the copper "L" contacts inside the starter. Toyota dealers sell a rebuild kit for less than $15.00. It only includes the bigger of the two contacts (positive terminal), but that is generally all you will need. You will find the contacts by taking off the end, and removing two long bolts, and opposite the bell shaped end. The hardest thing is getting the starter out. The rest is easy.
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On my 1991 AWD, the two contacts were the same size (smaller). Only one was worn. The starter is easier to identify from underneath. The lower (17mm) bolt also holds a shaft bearing on the AWD. There are 3 14mm upper bolts; the middle one is shorter and does not need to be removed.
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