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Do you get a single click or series of rapid clicks?
They use a relay now, if it's the relay making noise and not the starter then you should hear that single click in the fuse box under the hood. Otherwise, I think it's safe to say the truck needs a starter. The tapping trick doesn't always do the trick sorry to say. The single click though typically means the starter has failed. If it's clicking in the fuse and relay box under the hood and it's not the starter you hear clicking, let me know and we can do some testing.
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