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Maybe,
Pull the starter and examine the teeth on the ring gear and bench test the starter drive
Bench test the starter drive by seeing if the drive can chew up a 2x2 without slipping and making that noise
Ever done that test?
Starter on the ground, running with jumper cables, test drive with big stick pressing real hard into the gear teeth
It should send wood flying
Do it, Hopefully the ring gear is not shot
but,
I am helping a guy replace his on a '13 F150 next week