The best way to check if the bendix is kicking out to engage is to bench test the starter. remove the starter and place a ground wire to the frame or housing of the stater and touch a 12v hot lead to the pos post of starter being careful not to let starter jump away from you. when the starter engages the gear should come out to the end of it's travel, the starter gear is spring loaded.
The problem is the starter clutch or another name is the one way bearing
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