The high current relay helps alot, but it isn't totally foolproof. When I had that installed on my Hunter 30 '76, I had additional incidents of no starter turning after more than a year. After many more iterations I've come to believe the connections from starter to block, block to neg cable and neg cable to neg battery post are highly important, and I think the starters Yanmar sells aren't very good. That's not to say giving a good high current connection to the solenoid hot doesn't usually solve the issue, it's just I think that might be treating the symptom a little and bludgeoning the problem into submission.
Consider that the solenoid coil almost always pulls in (the click), it's the starter that doesn't spin. And as everyone has experienced it generally does eventually start after multiple tries. The current required to pull in that little solenoid coil is orders of magnitude smaller than whats required to spin the starter when engaged to the motor's flywheel. You'll find that when you take one of these starters off and bring it to an auto electric shop, it will work perfectly on the bench over and over, without any load on the pinion gear. Another clue is the problem seems to occur when the engine has been recently run more often than when it's been laying idle for days to me. This may be because the rings and cylinder walls are already wet with lube oil and compression develops immediately when the piston sees force, making the motor harder to turnover- that's just pure speculation though
When the solenoid pulls in, and the big contacts make that energize the starter motor, if the starter motor's field isn't quite powerful enough to get the to starter spinning (at full speed) very quickly, the starter motor's winding becomes a very large, very low resistance path to the engine block, which in turn reduces the potential across the solenoid coil if there is just the slightest resistance between the block and the neg battery terminal.
This very rarely happens in automobiles, but a buddy of mine said it happened frequently on a Chevy Suburban he owned. He said he got a super heavy duty after market starter and never had the problem again.
Using the same OEM starters, I think we are faced with doing all we can to keep the power and ground connections perfect and maybe the high current relay mod. Knocking the side of the starter with a hammer as a last resort has never failed me. I'm serious.