If the internal plunger and contacts inside the magnetic clutch ("solenoid" section) are worn and getting welded (stuck) together intermittantly that can cause the starter to keep running after the engine has started. A brief metallic grinding whirring sound when starting the engine could also be from a defective starter pinion shaft and gear not retracting as they should after the engine starts, IME that can be due to a broken return spring for the pinion shaft.
You can test the pinion gear/shaft (once the starter is removed) by pulling out on the gear to extend the shaft then letting go, it should be difficult to pull out and should snap back forcefully when you let go. Also, open up the "door" (plate) by removing three small bolts/screws and inspect the plunger (it will want to push up/out) and contacts.
WARNING: there is a small individual ball bearing (BB size) inside that section at the very base of the plunger so if you remove the plunger do not tip over the starter while the plunger removed. Open it over a clean table, not in the driveway.
If the original starter or a cheapo reman'd starter it likely needs at least new contacts and a plunger (there are two kits of small pieces you can get from any Toyota dealer) or just buy a new DENSO Starter and be done with it. Don't waste your time or money on a Neverlast starter from Vatozone or any other rebuild, most are junk.
If you do buy a replacement starter either go with a Toyota Reman'd starter from any Toyota dealer (28100-66060) or a Denso Reman'd starter (OEM manufacturer for Toyota). IME DENSO Aftermarket starters are well made. FWIW.
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