Starter is a weak spot on my Rav4 and Corolla. Changed in both of those vehicles at about 200k miles. Forgive my lack of technical terminology, but the rod with the little gear on its end that extends to engage the fly wheel wouldn't retract properly and was hitting the fly wheel after the engine started. At least that's what it sounded like.
So, who knows how long starters will last. To apply some stats, I'd guess it's about 200k miles plus or minus 100k miles.