You guys are geniuses! Not that I doubted you, but I believe I've all but confirmed that my problem is in fact the starter motor solenoid contacts, as many of you suggested it was. The intermittent not start thing hadn't happened since I created this post... until yesterday. I had bought a new relay, although the old one was probably perfectly good, but I never installed it. Fast forward to yesterday after filling the gas tank it didn't start on the first try. I did on the second try, so I went on my way. Today I was going to O'Reilly's to have them replace a bad battery under warranty (for a 1st Gen Tacoma Prerunner), and it wouldn't start after getting the new battery. I pulled the relay and put the new relay in, and still nothing. This time I definitely hear a distinct click from the starter. Tried the jumper wire on terminals 3 and 5 of the relay holder for funsies, and click. So, I had to get towed home and will order the starter contacts a little sooner than I had hoped. I knew I was playing Russian roulette driving the car, always running the risk of no more starts left in it, and today was the day I lost. Thanks for all of the help and suggestions! I'll let you know how the contact replacement goes.

Do you have a contact set you like? I see I can get a rebuild kit from Toyota, with contacts and bolts/lugs and stuff, or I see Denso kits on eBay for something like $15.00. Any magic part number you want to suggest? Otherwise, I got it. Thanks again!

hurmm

Get the rebuild kit from Toyota for your starter.

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agree with billo...hey..you got a part number handy on that. One of many projects b4 winter is to rebuild alternator....well new brushes.. and a new battery...they dont last long up here.....and thought maybe I would hit starter for contacts...im sure timmy has a video on how to do.....230k and nasty winters and when winter hits...i got no place to work...unless you like laying on your back when its minus 40 or paying a shop big money...like big...so I do lots of preventative....
we had snow hit 3 weeks ago...it will be back by late October. but bugs are out now....the mosquitos out now...so big they need landing lights and tail numbers

Man, oh man, I had a real tough time getting the starter in and out, but it was a success! The replacing the contacts and plunger was easy, and the old contacts were totally worn out, as was the contact on the plunger. That should wrap this up. Thanks for all of the tips and suggestions! I think I learned a lot on this one. Cheers! Now if I could get my son's damn 1st Gen Tacoma started... but that's a whole nother thread over in Tacoma World.

If you would have read the post above yours then you would have seen that the OP has fixed his problem by finally replacing the starter contacts and plunger. No further diagnosis needed.

Thanks, Man! It was 100% the starter solenoid contacts, and the contact ring (for lack of knowing what the proper term would be) on the plunger were totally worn. She's started perfectly every time since, so this one is put to bed!