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Most of the time my truck cranks right up, like a brand new battery and starter combination. But every now and then, after driving, when I go to restart it the starter drags for a second, like a dead battery, before it finally kicks over to normal. All wires are tight, good ground, battery checks OK, starter is less than a year old.
Sounds like your in for a new ground. my '84 did that when it was warm, and after about 10 starts, it melted the connector of the battery. the ground wire was corroded internally. Even if it looks fine, you need to replace it, unless you remember that last time it was replaced; odds are that is is the original factory cable.
Seems to be pretty common within these years of Ford trucks, I had the prob too and you'll find a lot of threads on it. Mine turned out to be the starter itself just getting old and run down, but I replaced all the 6 ga. cables with 4 ga. while I was at it - fires right up no problem now.
Since my starter is not that old, perhaps it is the ground. I don't remember when I changed it out. I know I did, just not when. The location on the block seems like it is destined to be corroded. Around here corrosion is a problem anyway. When I put the new cable on I'm going to dip the end in something to seal it. Wet roads and corrsive environment will have to work harder to wreck the next ground.