Car Stalls sometimes.
 

Every once in a while i'll be driving down the freeway and when i get off and drive in the city and stop at lights and such the car stalls and i try to start it and the starter is grinding. I believe the starter is going bad but is this causing the stall.

I would not think the starter is causing the stall. I would suggest you check your codes and let us know what you find. I predict a code 51 in your future..Just a guess. :)

The sole purpose of the starter is to turn the engine over (get it rotating in the proper direction) so it can start running. Codes?? TPS??

Hey. Have you ever seen an engine start backwards?? I have !! A 2-stroke motorcycle. It doesn't care which way the crank turns, because there are no valves.

Grinding?
 

Possibly your starter isn't mounted properly, check for security and if the bolts are tightened. Mine was ginding beforeand it was almost falling off. I had to use a broom stick (my hood holder) underneath the starter to align it to get it started just to get it home.
The starter wont cause the engine to die like that though. Suggest you check the idle adjustment, maybe its too low, maybe the AC compressor is loading too much, could be many things.

modified BOV ? dumping measured air