[Paul Workman]

You mentioned the voltage gauge reacted slightly to turning the ignition switch. That could mean the starter solenoid is activated, but the high current contacts inside of the starter may need to be replace; a common problem with the Denso starters (with 20-30k miles).

Replacement contacts are easy for a DIY project, once the starter is removed, and cost under $10 for a kit with just the copper contact lugs. (NOTE: Some kits include a new armature and contact ring (attached). I caution you that the thrust pins on some replacement armatures are too short, resulting in the pinion gear not fully engaging with the ring gear. However, the copper contact ring can be resurfaced with a little emory cloth - and the armature reused, no problem!))