How to change a starter and/or flywheel on a 1994 Lexus LS400?

When I start my car it makes that grinding noise which indicates the starter is going out. I want to do it myself and have the intake manifold gaskets and starter but I don't know how to remove the intake manifold to get to the starter. Any help on this whole process!? I'm NOT going to a mechanic. I want to learn myself. I've been told taking this starter out won't be the same or as easy as doing it on a Cadillac or Chevy because the Japanese have mastered making engines compact and hard to get to.How to change a starter and/or flywheel on a 1994 Lexus LS400?
www.autozone.com has free on-line repair manuals you can look at for your car