While driving door locks go up and down. Park Drive indicator in dash goes back and forth, eventually starts to miss. If you stop and shut the truck off it is like there is no power, but the battery is full charge

You actually provided a very good description of the issue. You didn't mention any check engine light on so I am assuming it is not illuminated. Based on your description I would focus on the park/neutral safety switch located on the transmission just below the shift cable attachment at the transmission. Start there.
Good luck.

First thing I would do is install a new battery negative terminal and when you're installing it, run an extra ground wire from it to the firewall where original engine to body ground is. Then check the ground wire coming out of the engine harness, the one on the right side back near the firewall. It goes to the back of the block. If you give it a good pull I bet the connector comes off (I've had several do this - probably a factory issue).

If that doesn't work, go through and recheck all of the ground connections.

Hope this helps!