If you want to understand what is involved in changing an xyz switch, search on line for and download as pdf
Vdr 100090 ENG (6)
Workshop manual 1999 my on
Look in auto gearbox repair for switch - starter inhibitor as this is xyz switch.
In removal, if your hands are nimble enough you should be able to do it without removing exhaust pipe.
In the refit, as you will not have special tool, if the gear selector is in P, make sure the switch is also in P, as you will have to manually sync the two by turning on ignition and moving switch until P appears in dash display and red light illuminates by gear selector, and then run through the whole selector range making slight adjustments until they all sync.
If you search on hear there will be a better explanation on how to sync xyz switch