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What is most needed when energizing the starter motor is current flow. Current has to flow from positive side of battery to solenoid (large red wire on solenoid) to starter, through field winding, brushes, and commutator, this makes the starter motor spin. Then current will pass through the starter motor case which is bolted to the engine. Current has to flow back to the negative terminal of the battery. You need a good clean case connection at the starter motor and engine.
As someone previously mentioned you also need a good ground strap connection at the transmission. And of course you need tight terminal connections at the battery. Any loose, dirty, rusty, corroded connection in this current path will increase resistance which will lower your current
You can make voltage checks and get the 12vdc your looking for but that does not mean you have complete current flow.
Since you can push start the car your problem is in the starter motor circuitry.
Hope this helps
Lash
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