2004 Camry not starting

My car won't start.
My car is a front engine front drive v6. The engine is
mounted perpendicular to the drive shaft.
These are the symptoms
I hear the starter whirling but seems it won't engage the
flywheel. There is no grinding.
I took the starter out and had it tested at O'Reilly's and
they said it was a good starter
I tested the starter myself too. hooked up power to it and
can see it spinning and kicking out. I installed just the
ignition plug and could hear the solenoid engaging.
I took pictures of the flywheel looks good  and felt up and
down the hole and all the teeth feel the same
Not sure how to proceed.
Someone said I can turn the flywheel but I don't know
how I could go about doing that the passenger side of the
engine is very cramped and can't fit a spanner in there.