So my car stalled while driving, I was able to restart it enough to pull over before it died again and got a tow home. Once home couldn't get it to start at all, wouldn't turn over but cranks. Tested fuel pump, good.
Battery was drained to half so I took it in and charged it. When I put the battery back in the car, now when I turn the key I hear a grinding noise and then intermittent clicks from the starter, not even an attempt to crank. Checked all the main grounds they seem fine, haven't come loose. But the starter doesn't seem to engage and the gauge on dash reads less than 8 when cranking.

If it was a bad starter than the car wouldn't have died, but if it was a bad battery or alternator why did charging the battery not fix the issue, I don't get it.

Any other cables or things I should be checking?

P.S ive heard this grinding sound before when my car battery died, I believe it's just the starter not getting enough juice and engaging right.

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Cables this old are suspicious, at best. The crimped connections at the starter and engine (main) ground can become resistive.

 

I checked the grounds and they seem fine. I went and added an additional engine ground to be safe and grounded the alternator to the frame as well. Still nothing.
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The first thing to rule out the starter is either use a remote start switch or a screwdriver to arch the poles. If the starter engages and spins the engine, then you can rule out the starter.