This problem follows my own experience. Pricey is right.. Replaceing the starter was my only fix. I nursd it for a long time. The Toyota Dealer did put it to me--approximatedly $1250. by the time it was said and done. They quotes they gave me three time for replacement was $350.
Dispite have looked at my V8 three times, they claimed they made a mistake and quoted a V6 starter. Beware!!