Based on your description, the starter selenoid is not getting enough juice (current) to pull up solidly. So, causes are:
1. Low battery voltage
2. bad connection of battery+ at the battery or at the selenoid terminal.
3. bad ground connection between the starter selenoid and the truck chassis.
If you want to bypass the selenoid, you can place a jumper cable on the "FAR" side of the selenoid (the side that feeds the starter). Then momentarily touch the other end of the jumper to the battery + terminal.
If the starter cranks, then you have confirmed the selenoid as problematic. Remove it and either replace it or disassemble and clean it.
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