I have tried a different battery with charge and was still making this noise. I’m assuming I need to replace the starter does anyone know how I fix this?

here’s the video:
G37 Startup Video

 

bad starter? borrow someone's code reader and see what it says.

 

I hate to say it but based on that video clip your starter is likely done. The pinion gear is not fully extending which prevents it from making full contact with the teeth on the flywheel ring gear. That sound is the pinion grinding against the ring. This could be a result of a worn out solenoid, dried out grease, or just age.

Technically, replacing a starter is a relatively easy repair. However with these cars, due to the tight clearance, it takes some clever maneuvering and A LOT of patience to get it out.

Good luck...

 

Went to autozone right after and bought another battery and it cranked and started with no problems. Not too sure why the hiccup was.

 

Strange. But at least you are up and running.