I appear to have exactly the same problem as Mike, although my starter is on a vintage car. Both the pinion and I are now somewhat distressed, although only the pinion has had about 1/8" machined off its teeth, apparently by 'premature rotation'. I have had the car for 50 years, and it has worked fine for 49¾. The pinion is bronze and 11-tooth, which is correct for the application. Before I start investigating the motor, first I shall be going into Brum early next week to see if it is possible to get the teeth brazed up. I can buy a new pinion from one of the spares suppliers, but it is over £200.
I am wondering if it could be simply a defective battery, although when it does engage it seems to turn over normally, so probably not, and it is only 2 years old.
Martin