It's Not So Difficult
Looks like you have an after market 'Speed Seal' pump plate which has slots for the bottom two holes. These make the task of impeller changing much easier.
My engine is a 3JH2E but has the same configuration of seawater pump. My access is also very limited to the extent that some owners have even cut a hole in the wall of the heads compartment to access the water pump.
I do not feel this is necessary.
First unbolt the alternator. No need to undo the electrical connections because the harness is (just) long enough to allow removal, but you leave it in a position below the mountings. Be careful not to strain the harness.
Next take out the two top thumbscrews but
only slacken the two lower ones. Now ease the pump end plate away and lift it up and away.
There is a thin 'O' ring sitting in a circular groove in the pump end face. It should stay in place but if you dislodge it it is not difficult to put it back after changing the impeller - just use a little grease to hold it. Last time I had to raid the galley for cooking fat!
The impeller can now be withdrawn. Remember its vanes are larger in diameter than the pump cavity and are out springing so it will grip inside the pump housing. There is a special tool made to grip impellers and withdraw them. I have never used it but have successfully used two small screwdrivers, each inserted between the vanes on opposite sides at 45° and pressed into the hub without damaging it. Then by levering gently but firmly using the edge of the pump cavity as a fulcrum the impeller can be eased out. Be careful not to score or raise a burr on the pump end face because this will spoil the sealing.
Remember this is NOT the maker's recommended method - their manual is silent on this point and there is no recommended tool. They just say remove the impeller.
Now, to insert a new one, give the vanes a smear of grease and ease it back on to the shaft whilst giving the vanes an anticlockwise twist when viewed from aft. i.e. clockwise rotation of your hand from the front.
Note the Yanmar Service manual recommends
checking the impeller once a year or every 1000 hrs running - whichever comes first - but it does not actually recommend changing it - so its up to you.
This is a helpful link:-
http://sagaforumet.com/yanmar-manual/4JHE/manual.pdf Just download the index and click on any chapter heading to download the relevant section.
Two extracts from the manual are below.