My starter is going out. Yes, I'm sure it's the starter. I am on limited income and need to know if there's a way to change this by myself. I'm handy but hope this isn't too complicated.

Otherwise, what's the typical cost of replacement?

Thank you in advance!

what the first guy said is right but on the 93 to about 95 models. 97 comes out the top and is fairly easy IF you got the right tools.. all you need to remember is to disconnect the battery and the harness that goes to the starter itself. then two bolts come out and out comes the motor. if this is two much, we usualy charge about 1.5 hrs. labor which is about 105 bucks or more

On the Toyota they quite often have Nippondenso make starter motors. These have a regular problem of going click but not turning the engine.The engine normally starts after a few clicks. The problem gets worse with time.
If this is the case it is relatively simple to repair rather that replacing the whole motor.
If, and only if, this is the problem you will need to replace the solenoid contacts.
The starter will need to be removed from the car. The soleniod is the square (five sided) unit alongside the round motor. On the top of this soleniod you will find 3 x 8mm size bolts holding on the contact cover (it also supports the link wire with a clip).
Remove this cover, below it you will see a round plunger in the middle, this can be pulled out (be careful not to loose the spring).
You will now see 2 contacts opposite each other, that will be really well worn. These are what you need to replace, they are held in by 12mm and 14mm nuts, with numerous washers and insulators.
Replace then one at a time making sure that you refit (and locate correctly) the washers and insulators in the reverse order they were removed.
Refit the plunger and spring, replace the cover & cable clip.
JOB DONE - refit to car for years of trouble free starting.

Of course you will need to find someone who stocks the contacts. Here in the UK we used to buy them from a Auto Electrical Supplier for about £3.00 ($5.80) I know you can buy them from Toyota (they do not really like selling them to you) for about £15.00 ($28.00). This is a fraction of the cost of a new or replacement starter motor.
Best of luck.
NOTE - This will only solve the solenoid clicking problems on a Nippondenso make starter motor.

That isn't a hard starter to replace, but it is behind the engine, and has to go out the bottom of the car. If I remember correctly, it is a pain in the you-know-who to wrestle it out of there, and you might have to fight with the exhaust or cross member and twist and turn it to get it out of there. I haven't done one in a while, but this one brings back memories. I do recall having a tight fit getting it out of there and getting the bolts started, but it isn't impossible.