No need to fully remove the starter if you're only working on the solonoid. Just disconnect the wires, remove it from the motor, spin it around and lay it with the solonoid on top of the steering rack. If you're patient, you can get in there and replace the contacts without having to remove the starter from the truck. Had to do this myself when the contacts got worn and the plunger was getting stuck (with the starter ON). New OEM contacts were under $20 from http://www.trdparts4u.com/ (I've purchased from these people about 4 times now, so far always great service).

Side note: I have been unable to find a new plunger. The old one is still working fine for me but I wanted to replace everything at once. Has anyone found the plunger for sale without having to buy the entire starter?