So when I start my car after it has been sitting for a few days or more the starting motor stays engaged a few seconds to long and makes a whining noise before disengaging itself. Is the starter dying or do I just need to lube something up?

 

Could be caused by any of the following:

Solenoid plunger return spring broken or weak

Defective drive gear clutch

Defective drive gear engagement lever

Build up of dirt or rust on drive gear Shaft

If you're feeling adventures, you could drop the starter, take a look for any signs of abnormal wear and bench test the solenoids operation.

 

What's involved in doing a bench test?