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Duty cycle is definitely one thing, the heat inside the starter motor needs some place to go. Of course you could probably get some stickable heat sinks that go on the case. In my experience it's normally the bearings or contactor that dies before the windings...
Another thing that can help is to lubricate the pinion gear with a moly based lubricant. Just be careful not to over-do it as you don't want to lube the clutch! This definitely reduces the effort to start the car.
-Michael
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