2001 Galant 6cyl starter - Help!

I am trying to replace the starter on my 2001 Galant 6cyl. I've got it loose, but can't get it out. There is an exhaust bracket in the way and so is the O2 sensor. Should I remove the bracket or the O2 sensor? I've tried to loosen the O2 sensor, but it's incredibly tight. My manual says that if you run the engine for a couple of minutes, it makes it easier to remove the O2 sensor, but I can't start it because the starter is bad. Any ideas out there????
Thanks,
JD