What tools are needed to replace the starter?

Sure, you will need 10mm and 13mm sockets and wrenches. You will need extensions as well. I would start by disconnecting the battery. Also, this guide can help walk you through the steps and I have included instructions in the images below for your car.

https://www.2carpros.com/articles/how-to-replace-a-starter-motor

This video shows the job being done on a 5.4 liter as well, the tools should be the same.

https://youtu.be/iySmMQM5OLE?si=0txpvvQX-yWYKYEl

Check out the images (below). Please let us know what happens.