I fixed the screech on my BMW motorcycle starter by greasing the shaft the gear slides on.
Perhaps this is typical for early 2000s Bosch.
My service manual even lists a specific grease ... Bosch PZ 2 V 3 silicone grease or equivalent
Good luck finding that. Think I used DuPont Krytox
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Kent Christensen
Albuquerque
2001 Boxster
2007 GL320 CDI, 2010 CL550
2 BMW motorcycles
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