Sounds like the starter has failed. When you are hitting the solenoid and it cranks, what you are doing is forcing the solenoid to find a spot on the winding that is not fried and it engages the starter.
You can verify this by checking voltage on the control wire at the starter. If there is voltage when cranking then the starter is the issue.
If it were me, I would replace the starter and retest.
https://www.2carpros.com/articles/how-to-replace-a-starter-motor
Below is the process from the manual on how to replace the starter and the wiring diagram for your review. Let us know if you have other questions.
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Tuesday, April 27th, 2021 AT 9:05 AM