Toyota - Camry :: 2003 LE Would Not Start / When Key Turned In Ignition Engine Would Not Engage

My 2003 Toyota Camry LE has been running fine. Recently I parked the car somewhere for about 5 minutes and when I returned the car would not start, i.e. when I turned the key in the ignition the engine would not engage. I called the tow truck. The tow truck driver takes a look and tells me that she can hear the engine trying to kick in. She thinks the battery is fine, the alternator is fine etc. etc. So she pops the hood, takes a long metal rod, places it on the starter and gives it a couple of gentle taps. Then she asks me to start the car. I do and it works. She tells me that the starter was stuck and that what she did freed it up.

The car runs okay now but I am concerned as to whether this could be a sign of things to come. Should I take my car in the get the starter looked at or maybe replaced? The dealer says that a new starter will run me 350 bucks but also said that I don't need to come in unless it happens again. What does the community think? Do I have a problem or was it a one off thing that I can ignore for now? And I don't know if its important or not but the weather here has been starting to get colder lately. Could that be responsible in any way? I have about 81000 miles on this car.