Tends to only happen on cold mornings or in warmer weather when T4R hasn't been started in a few days. Once engine is warm I don't notice this on a restart.

Here's what happens:

Turn the key and get the typical starter noise of 'chug, chug, chug' (turning over) and then sometimes there will be a loud grind or scrape sound and then the engine starts. I don't know how else to describe it but could also post an audio or video file if that'll help.

I'm thinking it may be the starter but it doesn't sound like the typical starter contact issue noted in the forums as I never just get a 'click' (it always 'turns over').

I'm in Canada so would like to resolve this before winter hits (any day now).

Occasionally, my engine will fire up and idle very low and rough and then eventually quit if I don't rev the engine (perhaps not all cylinders starting?). Not sure if this is related to the noise above but figured I should mention it.

Thanks in advance for any advice!

Mine did something similar a few months ago. It started out as occasional and then turned into every time I started it. Turned out to be my starter was bad. The front bearing on the bendex was shot and the retaining ring wasn't letting the bendex pull all the way back in so it was grinding on the flex plate. Looked to be the original starter from '99 though.
Was the first time I saw a starter fail like that.

Yeap like stated its the starter. The mechanism that kicks the gear towards the flywheel/flexplate is not working as it should. If you can find an OEM replacement or have a good known local company rebuild it. Its the best option. They are very hard to replace and you dont want to be changing a cheap auto part store one every year.