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YellowTops have great reserve capacity, being a deep cycle battery, but generally don't put out that much cranking power compared to the RedTops or other heavy duty batteries. But should be way over what the OEM Delphi battery could put out.
Definitely have the batteries checked out, could be that by not exercising the deep cycle ability, the plates have suffered some sulphur buildup and don't generate as much juice as they should.
Double check that the battery posts aren't heavily corroded, same with the battery terminals. If the car starts immediately when jumped, but not from the YellowTop - could be either a bad YellowTop or corrosion on the battery terminals that prevent power getting to the starter. Jumping the battery, might temporarily cause a good connection (battery clamps bite into the material, bypassing the corrosion).
Also take a quick peek at the starter terminals - they are prone to corrosion in their present location. Sometimes it is something simple as removing surface corrosion and tightening those nuts under there.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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