But you already have a huge wire, (power from ford solenoid), to the starter. A jumper from the power terminal on the starter to the start terminal on the starter, is all you need. I have done this on two trucks and it works perfectly. Not trying to stir sh!t.
The reason I would let the GM fire the Ford, is purely a matter of timing.
When it is wired factory, the starter does not start turning until the solenoid has fully engaged the Bendix.
If you let the Ford and the GM fire at the same time, and have the Ford powering the starter directly, then the starter will start spinning while the Bendix is still engaging.
We are talking milliseconds here, and there is some inertia in the armature of the starter that will cause a brief delay in starting to rotate.
The only way to determine if the teeth are engaging fully would be with a high speed camera or checking long term wear on the teeth.
And even then, it would probably vary from truck to truck.
Once the starter has taken up the load of turning the engine, I suspect that the solenoid is not strong enough to engage the teeth any farther. Although, during a long crank, they may "walk" farther in as the starter turns.
As long as there is significant engagement when the starter starts turning, its probably not a problem.
If the GM solenoid were dirty and dragging, then the starter might get going before the teeth engaged, which would cause grinding as they were driven together.
The final proof, is if it works. Since it has worked twice for you, that is a good indication.
I just like to err on the side of caution rather then have to replace a starter or ring gear.