My V6 97 4Runner Limited starts but the starter makes a grind noise at the end of the start that is the same sound as when you try to start a vehicle that is already running. Does the starter need to be replaced?

 

For the original Denso starter, you can put in new contacts and a plunger to likely solve the problem. Don't put in a "lifetime warrantee" starter...rebuild the Denso if needed!
Another possibility....the gear on the starter is very worn and causing the issue.

 

Either worn or very dirty starter drive sometimes called the starter clutch.

For what ever reason it is hanging up.

As was said it could be pitted contacts causing the circuit to take longer to open then it should

 

Thanks for the help. I have a new reman denso starter ready to go in once I have the right tools. Since it is the original starter and it now has 283K miles on it - I'm replacing the whole thing.

 

Have it rebuilt...