I have a 2000 Camry V4 which has recently got this issue with starting up. I had noticed it the first time when I had switched my engine off at a long traffic signal and it wouldnt come on after a couple of minutes. I switched it off completely and took the key out. Put the key back in and turned for ignition and all I hear is a click and whirr (I am guessing solenoid and fuel pump). I switch off and quickly try again and it turns and starts. Recently it has started happening more and more. Click and a low whirr (not the turn of the engine) but it does not pick up. Is this starter issue ? What should I look for ? Battery is ok, and even if it was not ok, I drove some distance (~80miles) and it should have charged by then. If it catches, it starts just fine (albeit with an additional whirring sound (like a motor mounted on a thin tin foil). Which dies down when the engine warms up.
Any tips in the issue would be big help as my wife drives that car with my kids on board. And I dont want her stuck anywhere.