Nissan 1995 Altima GXE Starter

[PhaRO]

Here is the basics
Car wouldn't start, jumping no go, battery seems fine, popped the clutch and got it started and drove home.
Cleaned battery terminals no help.
Got underneath tightened up solenoid wires.
Now it starts just fine but the starter is making noise during start up.
Figuring maybe starter teeth are worn or damaged, cost for starter with solenoid $105. There is enough room to get the starter out without moving anything (appears so at least). The top bolt closest to the engine I don't see how I can reach it. Has to be a trick or tool to get to it. I'm sure some stuff has to be moved but rather not go at it blindly.