I have the same problem and have followed some of the advice to cure it without total success.
Not sure what engine you have but be very wary of Haynes when removing the starter motor, if it is at the front of the engine bay then the bolts for the starter motor also pass through the engine mount, brown trouser moment when the engine starts to drop. Get a trolley jack to take the weight.
There is a small copper bush in the gearbox casing which the shaft of the starter motor goes into and a lot of people recommend changing this first, only a few quid from VW and the new bush should let the starter spin more freely. You need a suitable tool to remove the old bush, another brown trouser moment when you chew up the old bush with a suitable sized tap but can't get the thing out! Just persevere and it will come out, perhaps in small pieces.
Another recommendation was to upgrade the cables from battery to starter motor, alternator and earth with those taken from a Mk3, cost me £1 each from the local scrappy.
If you buy a new starter motor check that it is correctly rated for your engine as various outputs are available, no point buying one that will struggle to turn it over even when new. If necessary check if there are connections on the solenoid for the cold start system.
I'm sure that this subject has been covered several times here, search for hot starting problems and you'll find various threads which is how I found most of this out.