Austinsons,
I agree that it’s most likely a battery. You need to disconnect them from each other and from the truck and allow them to sit for a few hours. Then test each battery separately. It’s best to take them somewhere they can do a proper load test. Be sure to clean the battery posts and the cable connectors when re-attaching them.
I was going to suggest changing the contacts in the starter to LarryB’s, but I see that they aren’t made for the newer trucks. I’ve had good luck with those kits in my older pickups. This information may help someone else though.
Another troubleshooting procedure you might try is to jump your truck from a vehicle with known good batteries. If it starts right up then that would point towards one or both of the batteries as the problem.
Best of luck,
– Loren