Intermittent Starting issue for Ford F150

I have a 2014 F 150 5.0 4x4. Sometimes when I start it, the starter engages but then stops and re-engages, clicks, and then eventually starts. I had the battery checked and it’s fine. I am thinking the starter is going bad but it looks like a pain to replace.
since it is intermittent, I am afraid if I take it in, they won’t find anything wrong and I’ll get a $150 bill and still have the problem.

Anyone have a similar problem with starter? What was the repair?