On my Pathfinder, there is a solenoid for the glow plugs, but the starter is wired directly from the panel.
"Solenoid" is used in two contexts in this discussion.
INSIDE the starter, applying power to the solenoid energizes the electromagnet, causing a pinion gear to move to engage the chainring and turn the crankshaft. Simultaneously, it closes the heavy-duty contacts to energize the starter motor and spin the pinion gear, causing the engine to start.
The other solenoids, those used for the glow plugs and, apparently, as helper solenoids, are also known as "relays". THey are simpler: the energized coil pulls a small contact closed, allowing a greater current to be controlled with a lesser one. So, a weak or low amperage electrical "signal" from the panel may more readily control a greater draw, such as the glow plugs or starter motor or, in your case, starter solenoid.
We had to replace our glow plug solenoid last year, which was a pretty straightforward operation.
It sounds odd that you need a "Starter Assist" solenoid. Normally, there should be ample voltage and current from the ignition switch to the starter solenoid terminals to get everything purring away. May I suggest a few steps?
1. Bypass the "helper" solenoid entirely. And/or listen to it when turning the key. Has the solenoid failed?
2. Consider whether your starter battery is just.... old. Fresh battery can do wonders, and let you dump that "helper"
3. Possibly your ignition key assembly has corroded contacts. Replace.
4. It IS a long run from the panel to the starter, and unless you are prepared to upgrade the doubtless corroded wires, a helper solenoid may be required regardless. Any old thing from West Marine should do. Wires from the starter panel and ground go to the small terminals. Cables from Starter Battery and Starter terminal go to big terminals
Sorry if this repeats stuff you already know.
Michael