Turns out, it was the starter. I had my wife turn the key to start while I checked voltage to the solenoid and to the starter. Both had good power so I knew it was the starter and not the wiring. I ended up putting in a brand new starter from O'Reilly's that had a lifetime warranty. Since my truck has the 6 speed manual transmission, I had to buy a starter that fits a 2001 Dodge 1 ton. Anyways, it turns over the engine so much faster than the old starter. I kept the old starter to rebuild and keep as a spare. I'm thinking, the contacts may be all that's wrong with it.