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Funny,
My wife has a 03 corolla S w/155k on it, doing the same thing.
What I did was changed out the started. Thinking it would help. It didn't the car starts, but sounds like it's having a hard time. No CEL, so it seems ok. but when I start it up it just doesn't sound normal and I don't like that feeling. I wouldn't want her stranded somewhere knowing I could have prevented it.
I did however tinker with the old started before I changed it out.. BAd Idea... it was filled with grease on the other end where the brushes were, so I cleaned it out, and regreased the 3 little gears.. put it all back in the same night and it didn't turn over at all.. just a bunch of clicks.. after new starter installed it fired up great. I'm no mechanic.... obviously, But I'm still dealing with the same thing your dealing with. I'll try to get a youtube video up of what the corolla sounds like.
Sorry can't help on the voltage, Honestly, sounds like your starter is fine,, if your not sure about it, you can replace the brushes, they do wear out.
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