Yup, most likely the starter solenoid contacts need to be replaced.
Here's a thread with pics showing how to change them on a 2000 V6.
Here's another, showing it for the 5SFE (4 cylinder).
And here's another, again for the 5SFE.
Here's a link to what we call "the stickies". Lots of DIY threads for most common repair jobs.
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1992 Camry LE, V6 (3VZ-FE), ABS brakes, 330k miles, dark emerald pearl, owned since new.
1996 Avalon XLS, ABS brakes, moonroof, white, acquired w/ 139k miles, now at 261k.
2001 Yamaha FZ1, Ivan's jet kit, resprung all around, Ohlins in the rear, Race Tech cartridge emulators in the forks, 45k miles.
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