How to change a starter on a 2002 Jeep Grand Cherokee?

There might be a couple ways to do it. I have heard of taking off the exhaust, and removing the starter solenoid. The easiest way that I have found is to unbolt the starter completely and let it rest on the exhaust. Then there is a O2 sensor right behind where the starter lays. You should remove that. Below the O2 sensor is a little bracket with some wires. Remove the screw that holds the bracket on and let it hang. You should be able to wiggle the starter between the frame and exhaust. I takes a little persuading but it will come out. Good luck!