GMC Yukon XL 2001
 

I need to know how or if I can remove/replace the starter on a 5.3 V8 engine.
It doesn't look like there is room to remove because of engine or frame.
The long bolts being removed is no problem, getting the ground nut is another story, then getting it out...

You definitely can. Make sure you disconnect your battery first. Taking the bolts out will help you to be able to turn the starter so you can access the wiring better.