Most home made ice is hard because it contains less air than comercialy made icecream, they pump up the volume buy adding air during the freeing process by high speed whisking and injection which a home machine carn't match, If you have ever left a 2 ltr contanier of ice out you will see the sugar liquid in the bottom and like a froth on the top. That the air you have paid for.
Allow you ice to stand in the fridge for a while befor servinf so the temprature comes up to about -4 to 5 that should help, if you leave it out of the frige the out side will melt and the middle wil still be hard