Location of starter?

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So...I'm pretty sure my starter finally bit the dust. I've got about 220,000 miles on my Yaris sedan and I turn the key and 'nothing'- no clicking, no attempt to turn-over. Lights all work, took the battery out and had it tested for both volts and load-all good(12.6v and 543cca on a 540cca battery).

Anyways, is the starter the cylinder with the Toyota/Denso sticker on it right above the oil filter? I was under the car-in the dark and rain, of course- tapping it with a hammer while my wife turned the ignition key(I saw to do this online). I could hear a 'click' while she did it, but it was dark and I was just trying to see if I could get the car home or to a garage. Did this for a few minutes until I was too tired/soaked.

Obviously, if I don't even know for sure I'm looking at the right thing I'm probably not going to attempt to replace it myself, but I was curious if I was 'in the neighborhood'. Thanks!