It seems to be an affliction of the 3.2s, but this guide is how to change the starter on any of the V6 models. A fiddly job, but not too bad once you've tuned your hands in.
Safety first - you are responsible for your own idiocy. Don't try to sue me if you have an eye out, you, and only you are in charge of looking after yourself. I personally wear barrier cream and decent mechanics gloves to protect my hands, and some overalls and steel-capped boots, just in case you drop something on your toe.
First of all, make sure you're on a level surface, the car's handbrake is on, and wheels are chocked to stop them moving. Do not lift the car using the scissor jack, always use a proper one (preferably a trolley) - and support it in as many places as possible - stands under the chassis rails, for example. For this job, I dropped the front of the car onto some ramps, since the wheels can stay on.
What the starter looks like - 
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Tools needed - Trolley jack and ramps or stands
15mm and 16mm Ring spanners and sockets
Ratchet and variety of extension bars (for engine mount and plate)
10mm and 13mm sockets and 1/4" ratchet (for terminals and battery connection)
E12 socket and extension (for starter bolts)
7mm (I think) socket (for hose clips at front of plenum)
Flat screwdriver (for removing clip from coolant bottle)
So, onwards to the removal. - Park the car where you need it, handbrake on, remove the key. Chock the wheels, pop the bonnet.
- Disconnect the battery negative terminal and tie or wedge it somewhere where it can't spring back.
- Have a cuppa.
- Loosen the hose clips around the front multiram-plenum connection. Remove the bag pipes from the throttle body, but leave them attached at the bottom. This is to give the engine room to move up and down.

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- Unclip the coolant bottle and be ready to tie it out of the way (or have a willing assistant to hand)

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- Lift the front of the car onto some ramps, or onto axle stands under the chassis rails. Remove the jack.
- Using a block of wood on a jack, support the engine via the sump. Try to get the jack in from the passenger side so it's not in the way.
- Undo the top driver's side engine mount nut, remove, and store safely.

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- From beneath, using a ring spanner, loosen and remove the lower nut of the mount. Don't drop it.
- Gradually jack the engine so as to be able to remove the mount. I lifted the mount, turned it 90 degrees, and then pulled it out from the front of the engine. You're left with this -

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- Unbolt the cable holder from the engine plate - one 10mm bolt holding it in.

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