Start with the battery being bad ,then the starter eventually will get damaged by carbon tracking on the solenoid causing the resistance to be too high to engage the motor.
The starter is the same as the Camry , solara , highlander , sienna , ES and RX all have the v6 3.0l 1mz-fe . Only minimal changes over the years , some come with different original manufactures depending on the who Toyota used as a part supplier for the month but all fit and cross over.