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We had the same problem you described which burned out our starter a couple of year's ago. The fault turned out to be the starter switch which did NOT disengage hence kept the solenoid one and gears in. That killed the starter. So I would advise checking the momentary On switch used to start the engine.

Unfortunately, it did burn out the starter and we had to replace it. I found the job to be relatively straight forward. After cutting power to the engine (main battery switch), I disconnected the wires. I used a 1/2" ratchet with an extension and was able to quickly remove the two bolts that hold the starter in place. The top bolt required manuvering around the wires. Replacement was a simple reverse of the removable steps.

We also found that Yanmar uses a standard Hitachi starter which we found cost 1/2 the price of a Yanmar branded starter. My advise: pull the bad starter, take it to an automatic parts or starter specialist and order the Hitachi part. You will save $100s on the cost.