Mine does this occasionally. I had been using it for years like this, finally decided to try and fix it. I had a supposedly good starter that I swapped in place, but it had problems. Swapped out parts from the old starter and the new starter, and after going several rounds with swapping parts around, I am back to where I was with the grinding.
The one part I swapped back in that brought the problem back was the solenoid on the starter. I think there is a problem in the relationship between the solenoid contacts in the rear of the solenoid, and the mechanical linkage that throws the gear out to the flywheel. It seems the solenoid pulls back and makes electrical contact to the starter motor before the bendix is fully engaged in the teeth of the flywheel. So it makes this grinding noise.
The problem is, I see no adjustment for this in the starter. It may just be worn out parts in the mechanical linkage that throws the bendix out to the flywheel.