Okay here it is a 98 Lexus LS400 starter it needs replacing but will that fix the problem easpecially with the teeth grinder down like that

 

It should! Looks like the starter main bearing assembly gave out, thus throwing the whole shaft out of alignment. Only thing you can do is try to inspect the flex plate teeth while the starter is out, if no teeth are missing or severely damaged on the flex plate it should be fine. You'll have to rotate it 360 degrees around in increments to try and visualize all the teeth by rotating the crank bolt a little at a time with a socket and ratchet.