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That noise is caused by the bendix/solenoid sticking. No need to replace the starter. Just clean up the bendix.
If you hear that noise before the starter engages (before the engine cranks), it could be a weak battery, starter solenoid or fouled bendix. This scenario is highly unlikely.
If you hear it after the engine starts, the bendix is sticking and it has nothing to do with the battery.
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