2003 Chevy S-10 Starter problems

I have the 4.3L 6 cylinder in my 03 S-10 pick-up. I have been having problems with starting it. Many times when the truck has been sitting for several hours, it will not start. I turn the key and hear a click behind the instrument cluster, but nothing happens. The lights don't dim, the starter doesn't click, nothing. I turn the key several more times and eventually it starts. It has started on the 1st turn, the 5th, the 75th. It has yet to happen if the truck has been running recently. Weather also seems to have no effect on when and if it will start. I have changed out relays so that isn't the issue. I've had the battery checked and its good. To get at the starter my manual says I have to remove part of the exhaust, so I've been delaying that since I don't have the tools to do it.

Any ideas? I don't know how or where to use a jumper to see if its the ignition swith itself.