2005 Saturn Relay I am having starting issue with my 2005 r

I recently changed my starter and I am still having the same problem. My starter seems to turn the engine over fine when it’s cold though it has done it once in a while but it is more prevalent when warm. The issue is the starter makes a sound like it is turning over but the engine is not. It seems like the starter drive is slipping but I know it’s good. The sound is not a click, click, and clicks either. The battery is original, so I am thinking change it anyway but I had it tested at a parts store and they said it was fine. It seems like the starter drive gets stuck or does not engage into the flywheel but I know it is spinning. If I turn the key off again and back on it will eventually turn the engine over and start. This issue does not happen every time either. Any suggestions would be great.