Here are just a few pics to clarify the positions of the Bolts that require removal to disengage the Starter Motor (Denso as fitted to the 2 Litre BMW Engine).
If you are carrying out the usual solenoid service kit replacement of parts ,then this procedure is fairly straightforward.
The Haynes Manual is pretty vague on this part of the strip down and eludes most who endevoir to try and figure out the removal given from the manual pics and illustrations.
1/The pics start at the top view of the engine and this is how it looks before you commence removal of the starter.
2/A few illustrations showing the rear/top bolt including the spanners to clarify its position.
3/The motor is shown with electrics removed and the front bracket bolt hole visible after front bolt/nut removed.
4/If the battery box is removed, this can make easier access to the top/rear bolt using a 13mm socket and swivel knuckle on the wrench.
5/Last Pic shows the starter bolts / batt box bolts and removed Motor.
Hope you find this information useful and good luck with the easy part (replacing the plunger and contacts).
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Starter Motor Removal (2001) TD4 Freelander