I’ve got the same problem in my truck. I’ve had this problem for almost 3 years now… but I’ve got a special trick to keep the grinding to a minimum:
When you turn the key and hear the grinding noise (or sometimes no noise at all), pop the hood and find the big belt that connects everything together… then yank on it until it moves an inch or so. This should manually turn the flywheel to a spot that does have teeth. It works like a charm!