Thanks for the question.
Be sure the battery and terminals and cables are very clean. If they are dirty clean with baking soda and water and a stiff brush.
Test the battery. If it fails a battery test replace.
Check to be sure the charging sytem works properly.
To get you going try jump starting the truck.
Most parts stores will test your battery and charging sys for free, call around first though.
If the battery is weak, the relays do not have enough power to close, so they make that noise.