I'd be surprised if the relay was the ause of the problem, but then again I've been surprised before.
The post "sthemi" references is mine. My DD starter was draggy: starter checked out OK, replaced solenoid, then engagement was occasional and sounded horrible half that time.
As far as accessing the starter - the Hookers on my RR allow basically no room for anything, but I was able to get room by unbolting them from the exhaust & head. Shop rags & towels to protect finish on headers & apron. Very minor bloodletting.