Does anyone know how to remove the starter from a 2006 Chrysler 300 RWD 3.5L touring model?

I have tried to remove the lower steering shaft but can not get it apart after removing the bolt in the center between the upper and lower steering shafts.

I have also removed the bolt at the bottom of the lower steering shaft and tried to move the entire shaft out of the way but the universals at the bottom are too big to get out of the way.

It appears that if I could get the upper and lower steering shaft to separate I have a chance to get the starter out. Without this there is no way I see to replace this starter.

Any help is greatly appreciated.

Thanks,
Sonny