You can test the starter with it on the vehicle. Get a remote starter switch (<$15.00) and hook it up between the big battery wire on the starter motor and the small 16-16 awg wire running to the starter solenoid.
Hit the button and see what happens. If the starter is okay, it'll whirl and you may have a bad relay, ign switch or XYZ switch. Likely, it's a bad starter.
Rock on.
CBiggs
ROVERfixer
336-456-5972