I've had this problem too, and so have a few friends of mine (with other Ford's, not just Broncos.) What I found that works fantastic is a little place near me, a mom-and-pop auto shop that sold a "starter sleeve" which, all it is really is an insulated sleeve that fits over the starter. It's not exactly a "show truck engine part" but it works great. Before I had it, like you, when she was hot I got nothing on a restart. Once I insulated the starter away from the heat of the rest of the engine (you don't need the sleeve, just some more insulation at any auto store works just as well, you just need to cut it and place it) and you're troubles will be over, unless, like Seabronc and TX'73 said, your starter is bad.
Hope it helps!