Bplegacy

Hello everyone.

I am having an issue with my starter on my audi a4 were (im assuming) the pinion doesn't extend when the car is warm (anytime after driving it for 20 mins or so) all I hear is a whirling from the starter. After a couple tries it starts but it is pretty annoying. I have only recently gotten the car and done some work on it (left cat, o2 sensors, spark plugs, coils...) and im guessing i would need to rebuild or buy a new starter at this point. However just wanted to check with you guys to see if anyone had any clever fixes.

Also if accessing the starter is necessary (which im gonna assume is the case) I hear it is a pain to get to so any advice would be appreciated.

Thanks in advance