2017 tundra 5.7 starter

70,000 miles. Went to start it the other day and wouldn’t start. Turn key on and lights on dash come on but starter doesn’t engage. Turned steering wheel and moved shifter. Tried again and it started right up.Turned it off and started again no problem. Started a few more times that day and started right up. Next morning. Turned key wouldn’t start.Turned key a second time started right up. Turn on lights when engine is off and lights are bright. Don’t think steering wheel or shifter had anything to do with it. How long do starters usually last on tundras?Does this sound like a bad starter? It feels like an electrical problem to me.