Truck not starting properly

The clue is in your last sentence. If the engine is cranking normally, the battery, starter and all associated components are okay. The first thing to do is to check for spark when the crank/no-start occurs. You are going to find no spark, no injector pulses, or more commonly, both. This is typically caused by a failing crankshaft position sensor or camshaft position sensor. They often fail by becoming heat-sensitive, then they work again after cooling down for about an hour. While driving, natural air flow keeps the sensors cool, but when a hot engine is stopped, engine heat migrates up to those sensors causing them to fail.

Have the diagnostic fault codes read and recorded too. Those may indicate which circuit needs further diagnosis. The people at most auto parts stores will read fault codes for you for free on 1996 and newer models. You might have to find a mechanic to read codes on older vehicles.