2005 Allroad 4.2 Starter motor does not engage
 

2005 Audi Allroad 4.2 starter motor does not engage upon a restart after driving for sometime. It is very unpredictable and intermittent. All dash lights are displaying and strong. Volt meter seems good. My cure has been to panic at a rest stop or other equally inconvenient location. Re try several times, wait for a few minutes or do a complete restart. Get out of car, lock it, wish, unlock, reinsert key, restart. Always engages at some point within a few minutes but what a pain.