What you are hearing is the starter solenoid energizing from the 12v coming from your switch when you go to the start position. What's not happening is that your high current contacts within the solenoid aren't seating properly or one of the other problems listed below:
1. Battery discharded.....usually the first frequently experienced culprit. This could include a battery not capable of supplying 150 amps to roll your engine over.
2. Dirty connectors between the battery wiring and the engine block and starter solenoid input, and solenoid output to the starter and starter case ground to the engine block. You can't pump enough current through the connections to satisfy the starter's requirements.
3. Defective high current contacts within the solenoid caused by pitting from extended usage. Unless you are really on the starter all the time....like city driving, short trips, in and out, on and off, for a 2010 engine, I'd highly doubt your high current contacts in the solenoid have developed any pits to speak of.
4. Starter. However, if there isn't some mitigating circumstance as to why your starter would fail this early then forget that too.
You can fully charge your battery and try it and if you do and still have a problem, take your battery to Wallmart and have it load checked. Load checking is putting a resistance across the terminals that allows the battery to deliver 150 amperes and monitors the batteriesterminal voltage in the process. If the voltage doesn't stay up to 11v or more, the battery is sulphated up and useless.
If you are still running your original equipment battery, this is probably your smoking gun. 5 years is a reasonable time for a battery to sulphate up and developing a high internal resistance preventing the above from happening.
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