I replaced mine from below. I took photos off the exact socket extension/flex joint combination. It wasn't a bad job. I did in the middle of winter i put a space heater under the jacked up car for a few hours in the unheated garage made everything relatively warm.

The best tip; remove the intake boot, disconnect the B+ terminal under the hood (no need to disconnect the battery), and disconnect the main alternator power it will give you slack to work with you can move the starter a bit to far far far easier dis/connect the power to the starter.

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2011 E70 • N55 (me)
2012 E70 • N63 (wife)