After a long drive, the car doesn't start. Clicking. Later the ca starts. on 2005 Lexus RX330

Car will not start after long drive.Just clicks. Battery seems fine.

Asked by for the 2005 Lexus RX330
First thing is to make sure the battery cables are clean and tight, but starters as they get old will sometimes freeze in place from getting hot and the metal parts expanding then when they cool down the starter will work again