If one of the brushes of the starter has become stuck in its slot,
tapping with a hammer may jar the brush loose.
Heating the starter case with an electric heat gun before tapping can also add to a chance of success, but clean and wipe any flammable substances anywhere nearby, and have an extinguisher close at hand.

For similar reasons, heavy spraying with a lubricant/drying agent into the starter after trying the above first, might also free up the brush. After a couple minutes soak, tap with a hammer before trying it again.

Since it is a manual transmission have you considered push starting to get the vehicle to a shop with a lift?