Bill H -- sounds like you picked up the same thing... just about the same mileage too! I was told it was ok to drive... as the problem progressed it would on occasion refuse to start (this I think due to the PCM... wait to start wouldn't light during the no start problem). Maybe your dealer will warranty the crank sensor... maybe you want to call DC Customer Service to help the dealer get the warranty approved (I'm learning this after the fact).
From my recent experience I would probably start with the crank sensor because it is relatively inexpensive and sounds easy enough on the surface... and only after that try the stealer route, unless you have a good relationship with one.
From what has been said the repair should take you about an hour (maybe less). While the stealer did mine I think the process is:
1) remove the starter.
2) unplug the sensor.
3) remove the small bolt holding in the crank sensor.
4) gently turn the sensor while pulling (held in by an o-ring I think). The stealer snapped mine off in the hole at this point and said it was seized.
Install should then be a snap. I have the Cummins part number out in the truck if you need it... sensor was under $40 w/ tax through Cummins.
Good luck,
John