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Start at the battery cable ends and terminal. Clean them and make sure they are tight.
If the interior lights go out when trying the crank, there is a high resistance at some point.
The relays are just respondng to low voltage.
Good luck.
Do the mechanical cleaning and tightening along the main power route as suggested.
If you get lucky and clear the issue, then you can conclude it was a high resistance connection.
Once there is an issue from age and use, it's almost a must to go over the whole system to clear other possible issues even if you don't actually see them.
The truck is 12 years old so you need to look at it from that point.
Good luck.
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