You have what looks to be more tha 2/3 rds of the tooth left. Plenty to have. I think they come rounded from the factory a bit, helps ease engagement. The important thing about keeping the starter engaging well is twofold, A good fully charged battery and a properly tension wishbone spring.
A weak battery won't spin the starter fast enough to get the gears to slide on the shaft before they engage, causing grinding.
A weal wishbone spring won't hold the gears in place well enough to get them to slide on the shaft, again causing grinding.
So keep your battery good, this means a properly working charging system as well as the battery.
When you do start to hear a bit of grinding or hesitation with the starter Check your battery and charging system. If they check out Pull the gears and tighten the spring.
Leo