When they turn the engine over quickly most of the time, but every once in a while act like the engine is seized up, that's a sign the starter motor is on its way out, correct? Battery voltage is 14.6V.
Which vehicle? The semi in your profile pic?
The starter you are describing is most likely worn out. The clicking you hear is the solenoid engaging, but then that is all you are hearing because no power is being sent to the motor armature to rotate it. This is either because the brushes in the motor end have worn beyond their useful life (no brush spring pressure remaining), or the contact bus bar in the end of the solenoid cap is worn. Under the non-removable solenoid cap, there is a copper bar that connects the two large studs together only when engaged, and this sends high current power to the motor below it, once the pinion is engaged.
On batteries, 12.8v is a fully charged like new battery at rest. 12.0v is about 80% discharged. As a battery ages, it will have a hard time ever recharging to 12.8v as its internal resistance increases. Typical battery life is about 5 years. They can last longer, and a lot of people will judge that by if it still starts the engine, but it will likely not be able to supply its CCA label rating anymore.
Every engine can act as a battery load tester. Digital voltmeter on the battery terminals while cranking, you really don't want to see it dip below 10.0v. The higher it can hold the voltage while cranking, the healthier it is. A lower CCA rated battery of a same case size as a high CCA battery can typically last longer, but aftermarket replacement batteries are often judged by max CCA instead. Typical KW semi truck will use 4x650cca group 31 sized batteries, but most group 31 replacements are rated at 1000cca.
Modern gear reduction automotive starters (since early 90's) have done away with the hot soak issue that cursed big engines in history. They use permanent magnet fields instead of coil wound, which those increase in resistance with heat.
A "Bendix" is the older type of helical engagement used on direct drive starters. These used fender mounted relays to switch high current on and off to the starter. The modern solenoid shift starter has integrated both of those features into itself, pinion engagement and high current switching.
Just 30 seconds of stuff if anybody wanted.