My Seat Leon does the same, whines from cold, fine when warm. Basically it's heat expansion on the starter motor bearing. It's not a bearing in the normal sense, more of a phosphor bronze bush into which the spindle fits. When cold the spindle is a tighter fit and this is the cause of the noise. When warm, the heat slightly expands the motor lessening the friction and the noise goes.
Removing the starter motor and lightly lubricating the bushings should cure it, but I've never had the time or inclination to do mine as I work on customers cars all week and never have enough enthusiasm to look at mine ( typical mechanic huh ? ).
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