When the wait to start light is on, does the voltage drop? This will tell you whether at least one of the grid heaters is actually doing anything.
There is an air temp sensor in the intake which changes resistance with temperature and the computer senses this and determines how long to cycle the grids for. If the issue is the grids running for too short of a time and not cycling when it is cold out after the truck is started, then you need to look into this stuff. As a quick diagnostic, if you unplug the temp sensor, it should run for the maximum length of time.
It is also possible that your relays are bad since the heaters themselves almost never fail. These can be checked easily with a voltmeter by checking the voltage relative to ground on the switched side when the key is cycled before a cold start.
You need to determine whether the problem is that the grid heater relays are not getting the signal to cycle the grids or whether the relays have both quit.