I actually just did this a couple of weeks ago ('95 Jimmy SLT 4x4). No lifting of the motor required. Just patience.
First, you'll want to undo the wiring through the front passenger side wheel well... Mine has a flap cut in it to allow easy access but I don't know if that's a factory feature or not... lol.
Then, get underneath and look for the starter. There's a couple of support bars connected to the bell housing on the transmission -- you'll want to loosen them and move them out of the way. Then, you can loosen the bolts on the starter and try to wiggle it out.
There's also a removable heat shield on the starter that might get in the way and prevent you from taking it out... the shield comes off pretty easily.
Really, you'll probably spend half an hour to an hour wiggling the thing out of there and figuring out the right angles... but once it's out, putting the new one in takes about 5 minutes.
Also, I recommend not reconnecting the wiring until you have it in place and bolted down... it's fairly easy to do from the wheel well.