The bendix drive of the starter is more than likely sticking on the starter drive shaft & is not meshing with the ring gear properly. Remove the starter & replace the bendix drive or replace it with a remanufactured starter which has a new bendix drive. There may be oil leaking onto the bendix drive & dirt will also clog it up. Check for a rear mainseal leak also. Hope this helps. Good luck!
Make sure to check the flywheel when you remove the starter there may be flywheel damage and that would cause the same problem.
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