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OK, you get my crazy answer for this one. I had a 1990 Camry that I struggled with this for years. I understand that these starters had belt systems similar to what you find in automatic transmissions. When the belts slip you get a noise similar to the Bendix grinding on the flywheel (flex plate). Before I ponied up for a replacement starter I found that if I waited 20 seconds after it made the noise (instead of bumping the key several times right afterward) before I tried to crank it again it started up with no further grinding about 75% of the time. Try it, it can't hurt.
If you do have a faulty Bendix and it has torn up the Bendix gear and the flexplate then Mike's answer holds. If you are willing to work on it, pull the starter (very easy - disconnect battery neg post too) and look at the gear. If it is all chewed up then you probably have the faulty Bendix problem. At this point you may want to figure out how to turn the engine over manually. You can get a mirror and light positioned to see the flywheel gear through the starter hole. Rotate the engine to inspect the teeth on the entire gear (put a marker dot of paint on it so you know when you have gone around one time). You should then know if the flexplate needs to be replaced.
Kep
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Often, it's the loose screw between the steering wheel and the driver's seat that needs to be fixed first!
Stock 1995 Camry, 5SFE, Sedan.
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