I know you said that you think the battery is good, but I am willing to bet that you may be surprised. Yes, the lights may work very normally, etc., but it may simply not have the cold-crank amps ability to really work at starting your car.
If your battery is more than three to four years old, I'd start by replacing it first before worrying about the starter (although that could be an issue too!). Get a high-end Interstate ... they cost about $120 and are easy to change. This may cure all your starting problems!
On my 2003 M45 ... now going on 11 years that I have owned it, I am on my third (or is it fourth?) battery. This time, I bought an Interstate and it appears to be lasting better than the stock Nissan one.
Z