My 96 Tacoms recently started haveing problems starting. I would take the key to start and it would not turn over. Repeating the process a few times would start the truck up no problem. I believe the issue is resulting from the solenoid contacts getting worn out, but I am not 100% sure. And if that is the problem, would I need to replace the entire starter or just the bad contacts. Thanks for any help.

Look at the top of this forum in the frequently asked questions. You will find links for repairing starter contacts. If you are comfortable doing repair work it's not a difficult repair.

Clifton