Assuming it is the starter contact and not something else like the battery, there is absolutely no way the dealer should replace the whole thing, sure its easier and more profitable for them but these starters are pretty beefy pieces of gear and commonly last the life of the vehicle with only the contacts needing replacement. I replaced the contacts on my 3rd gen, it was a PITA to get the starter out and back in but disassembly and installing the new parts was pretty easy. It was like $18 in parts or something cheap like that. The dealer will charge you labor though, probably 2 hours min, likely longer to do it for you.