having difficulty removing starter. limited space isnt allowing tools to be used / torqued

Disconnect and isolate negative battery cable.
Raise and support vehicle.
Note: If equipped with 4WD, remove front drive shaft.
Note: If equipped with 4WD and certain transmissions, a support bracket is used between front axle and side of transmission. Remove 2 support bracket bolts at transmission. Pry support bracket slightly to gain access to lower starter mounting bolt.
Remove two bolts (3) if equipped with an automatic transmission.
Move starter motor (4) towards front of vehicle far enough for nose of starter pinion housing to clear housing. Always support starter motor during this process, do not let starter motor hang from wire harness.
Tilt nose downwards and lower starter motor far enough to access and remove nut (2) that secures battery positive cable wire harness connector eyelet (1) to solenoid battery terminal stud. Do not let starter motor hang from wire harness.
Remove battery positive cable wire harness connector eyelet (5) from solenoid battery terminal stud.
Disconnect battery positive cable wire harness connector from solenoid terminal connector receptacle.
Remove starter motor.

this is the actual procedure.

Roy

There is a picture attached below to help show you where everything is located

We been told that to get to the starter we will have to remover the front drive shaft ...how do remove drive shaft on jeep commander 4wd 06 ...i read that will need to support something when the skid plate is off .want to make sure cuz never worked on 4wd

The skid plate is mounted to the frame and doesn't support anything. Remove the skid plate (most likely the bolts will break) then simply unbolt the u bolts at the front drive shaft and unbolt the other end at the transfer case.