RE: what is the easiest way to remove a starter?
yes as pete stated and as i know from personal experience on my 94, there is no easy way. The exhaust must be dropped no question. I would suggest taking this to a mechanic if you do not have the proper tools to drop the exhaust, also if you do not have the exhaust properly tighten up and placed/aligned you will hear a constant vibration/ rattle that really plagues the ears during low rpms esp take off.
94 Camaro 3.4L Manual Transmission, CAI, Magnaflow Exhaust
91 3.1L RS manual, CAI, 3.42 Rear end gears, Catback