Toyota Avensis hot starting problems

ok.in the morning the car starts fine.run it for a while,turn it off &then restart straight away it starts fine too.leave it for 10mins or so,when warm,it will only spin the starter & not crank.i've tried the "old fashioned"tap the starter with a bar,to no avail.crank sensor problem?temp control sensor problem?maybe starter motor problem.i have already disassembled starter switch & cleaned it,it still wont start warm when i turn the starter at bottom of ign barrelwith ascrewdriver.i am at a loss what to mess with next and am hoping someone has had similar probs with an old toyota.the car starts fine with abump start when hot and i replaced the battery this week