Easiest with seast and steering wheel out for access.
Trim panels off so you can see the motor.
Before you loosen anything, mark a line across the motor and the spacer ring. You need to make sure these go back together aligned or you will have sticky steering issues. Once the motor is out, scratch the line in the metal so it doesn't get cleaned off.
Two bolts hold the motor. These are a male torx head. You will struggle to get a socket on them due to access. The best thing I have found is a Halfords bi-hex 8mm ratchet ring spanner.