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Yes, if you applied +12v to the solenoid terminal on the starter motor and nothing happened, then ignore my previous post and fast forward to starter motor removal! Replacement Denso starters from Rockauto are not super expensive; but, chances are that the motor itself might be OK and that it is just the solenoid contacts that have failed. There is a thread on Prime describing the repair if you search. That said, if you got absolutely no sound at all from the solenoid, the solenoid coil may have failed and repairing contacts is not going to help that. Either way, the starter motor has to come out for inspection. The service manual will take you through testing and diagnosis of the starter motor.