The job of removing/installing is much easier if you can take out the intermediate pipe (the one that has the catalytic converter). I replaced the starter on my V6 a couple months ago and I would suggest replacing the starter mounting bolts. I went with ARP 430-3506 mostly because they are stainless steel. But if you do get replacement bolts, put a dab of anti-seize on the threads before installing them. Torque the bolts to 33 lb/ft.
I didn't realize there was a shim, so thanks for the heads up on that. And thanks for the reminder about the battery - I am bad for not remembering to disconnect it when I do things.
I got it done. In total it took just over an hour to pull out and replace.