Test the voltage drop between the battery and the starter terminal on the starter. To do that, you get the system in the circumstance where you get what you call heat soak, then put one end of the multimeter (DC voltage) on the positive side of the battery terminal and the other probe on the starter terminal. You crank the engine and the value you see on the meter is the voltage reaching the starter. If it is below battery voltage, you have a problem in you circuit. Could be corrosion on the cables or in the solenoid. To test the starter, you need an amp clamp or a high amperage tester to measure the amp draw by the starter.