Hi all. Looking for some help please.

Mk7 1.25 fiesta with high miles! Have a warm start problem. From cold, no problems at all, starts every time. But once the engine is warm, it sounds as if the solenoid isn't throwing the gear out on the starter. But i've not had this problem and i'm only assuming that's what the noise is. I've attached a video of the noise it is making. The video also shows that it will eventually crank the engine over after a few tries.

Thanks in advance for any help.

https://imgur.com/a/Zs0LsSe