If you’re measuring 10.5 volts at the s-terminal and 12 volts on the b-terminal, terminal to starter case, with the key in “start”, that should crank the engine. Unless there’s something preventing the engine from turning, the problem almost certainly is the starter motor or the starter solenoid, which I presume is part of your starter motor, right? I think what happened is you zapped a coil or brush in the starter motor when you did the jump to crank it the other day.
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