I did mine about two years ago on my 2001.
When I first to a look at it I thought there was no room to maneuver it to get it out without disassembly of the transfer case (4X4) mount bracket. I removed the bolts for the starter and began manipulating it to see if I could do it without having to make a huge project out of it. There's just a small opening by the torsion bar which I fed the nose of the starter into and had to turn back & forth a little but it actually fed through to my amazement. I did make sure to buy a Motorcraft starter though so there would be no difference in any slight change of configuration in the housing. The tolerance of that opening is unforgiving. Feeding the new starter is like fitting a puzzle piece but it went in nicely. Getting it bolted back together is a bit of a chore requiring some hand distortion. Altogether it took about 2 hours so I patted myself on the back.
Yes, it's doable, even with regular ramps!