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I would start by adding a large ground wire from the batts negative to the main frame rail. Then check the connections on the polarity box its under the spare tire.
Take it out and open it up. A wet wtec3 keypad can put the truck into drive on its own. I would replace it. There’s nothing special about the keypad its the same civilian wtec3 type.
You can also jump the large relay on the inside of the drivers frame rail to crank. Your issue sounds like a keypad or tcm issue. You can take the keypad out and open it up see if its wet.
The pdp is the circuit board breaker relay panel on 3126 trucks. Feel it see if sockets are loose in the board. Visually inspect. A bad board usually causes odd intermittent issues. The wtec3 tcm is a common failure. Keypads go bad too water drips down onto them over time and gets in.
Sounds like a bad trans tcm its under the dash behind the passenger side kick panel. I have replacements. You can also check the circuit board power panel. Some used low lead solder and can develop bad solder joints.
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