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I wish I could find a good image that depicts the battery cables and their respective connect points.
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Ask and ye shall receive.

The dealer is correct about the negative battery terminal being part of the wiring harness. I wouldn't recommend cutting and splicing a new one in unless its your very last option. Remove your negative battery terminal before attempting to service starter connections!
Here are the connections for the starter. These are near the transmission dipstick tube (if you have an automatic). Check around the nut (10mm) for corrosion before removing to clean. Also pull the connector above it and inspect for corrosion. Clean with a wirebrush and apply di-electric grease before re-installing.
There are two ground wires below your igniter and air filter box. One of the wires runs to the transmission and the other to the motor hook near the valve cover.
There are two ground wires near your upper timing cover. One goes down behind the motor mount and the other goes to the opposing motor hook near the valve cover.
Check all these areas and remove and inspect your battery terminals. Hope this helps.
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1996 Paseo 5E-FE 269,xxx miles - Gotta fix that sagging DS door.

New hinges on the way.
1993 Camry LE 5S-FE 249,xxx miles - New water pump, TB etc etc
1989 Camry-Gone but not forgotten. Car has become a birthday gift for my cousin.

1997 Mazda B2300 213,xxx miles - New flasher relay installed.