Truck randomly will not start

This problem started a couple of years ago but in the last month it has become a real issue. When it first happened I would just jiggle the shifter side to side, thinking it was due to some parking safety switch, and it would start on the second or third try. Just today I could not leave work for three hours because it would not start. The battery is one week old. I have checked the ignition and starter relays and they appear to be working. The control panel lights come on but the engine does not even try to turn over. Then out of the blue (with me only jiggling the shifter) it will start without issue. The headache is that it will start without issue for long periods sometimes months with no issues. Then out of nowhere it will fail to start. The amount of time it sits or the length of a trip, appear to have no bearing on whether it will start next time.
Any suggestions?