In short, yes you can replace the starter without removing the exhaust, but many would argue it's far more difficult as access is very tight and you can't see what you're doing without mirrors. Taking out the exhaust is, in my opinion, much quicker and the best way to make sure visually, that you've done the job right.
@@72Panic thanks! I'm trying to find a video on removing the carbs of a gp1200r or similar. heaps about cleaning them but not how involved the removal is. hoping I don't have to take out the engine to remove em :-)