You have a few possibilities here:

Starter contacts
Clutch out of adjustment
Fuel pressure issue

Check dem dere cable connections and make sure all is good to go; clean/dry/serviceable.

If the truck doesn't like to start at its first crank of the day, then cranks fine for the rest of the day, your fuel pressure might be bleeding off; usually the CS or fuel injectors or both.

22RE or 3.0?

The clutch cancel switch bypasses the pedal switch to start in neutral, meant for hill starts. The pedal switch might be out of adjustment; also check your free play and travel before chasing other stuff.
Clutch Maintenance

We have a 93 FSM sticky'd here that'll get you in the ballpark too.