Yes I have. It's not the easiest job, but it can be done in a couple of hours. The starter is in the back of the motor under the intake manifold. You can get to it from under, or you can take off the intake and do it from the top. It's up to you. I did it from the bottom.
Just make sure you disconnect the battery before you start. Otherwise you will see sparks when you try and take of the power lead off the starter.
Also just for note, if you have the radio that came with the car, you will need the code to get the radio to work after you reconnect the battery.