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In my experience starter motors do often suffer from too much muck - but this is more often than not just on the sliding parts near to the Bendix gear.
If your starter motor can be taken to pieces a good clean out with brake cleaner and the a good dry will often help. Scored commutators and nadgered (technical term) brushes are the parts that usually show the most wear.
If you do grease moving parts use a high temp grease - but use it so it is almost not there. Grease is really just more glue for muck - then you're back to square one again.
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