Let me start by saying if the starter needs replacing again I think I'll just burn it in place. But I had the same issues described and replacing the starter seems to have it fixed for now. I did first try the starter relay and you should also because this thing was no joke to pull on a 5.7 hemi.
I got to it from underneath after removing the skid plate and from the side pulling the inside fender cover. I got the fender loose by using a nail punch to drive the center out of the clips. I'll probably have to pick up some new ones tomorrow.
Allow the car time to cool there is no working room at all. You will need a small ratchet and some flexible swivel sockets or extensions.
The heat shield bolts are 10mm. The bolts holding the starter in place are both 15mm. The nut holding the positive cable is 13mm. I was able to rotate the starter out WITHOUT unbolting the drive shaft.
This took the entire day so set aside some time and it helps to have a good headlight and help if you can find it. I have minions (or children if you prefer) that could hold a socket or the heat shield long enough for me to get a bolt started.