I thought that the 96-00 vans sucked for starter replacement, but the 05-07 starter is even worse. I'm sure that if you have a lift and the perfect tools you can get it done from the bottom, but I was very happy to find this video which helped a lot!
https://www.youtube.com/watch?v=Quds2qPkteg&t=3s Taking the frame-rail and fan out wasn't that bad, and it made the job a lot easier. Biggest thing was that the top bolt also has a 2nd smaller nut on top of the main bolt that holds the ground. '08 and newer is probably different.