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The starter wasn't engaging the flywheel every time.
I read (online) that the bendix may need lubrication.
I decided to find out.
It did.
If you have this problem, I hope this video helps you.
As a follow up, the lube helped for a while, but eventually I had to change the bendix (the teeth were worn on the front side, they are not supposed to be... they ARE angled at the tip on the backsides, to allow them to feed into the flywheel easier)