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I have been a professional master mechanic for over 35 years and am happy to help you with this.
This is a real common problem with the starter motor when it gets hot. It develops too high of resistance and wont work until the starter cools down. Long story short, there is a hot spot on the armeture of the starter and if it happens to land on that spot, it cant "push" voltage to the brushes inside the starter therefore creating high resistance. The starter will need to be replaced.
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