Starter Motor Problems: Troubleshooting & Solutions

Hi everyone,

Given that starting problems (hesitant starting) are frequently discussed here, and a low starter motor speed is sometimes cited as the cause, I'm curious whether slow starter motors can be definitively identified.
For example, based on the part number from VAG or Bosch, the production period (how can you identify it?), or other means.
What is the difference between "lively" starters and "slow" starters?

Is there a way to revive a sluggish starter motor (e.g., by lubricating it, cleaning the contacts, etc.)? If so, how and where?

"My car has had this issue since it was new, even when the engine is warm, but it's only a slight problem (it takes about 1 second of cranking before it starts)."