2015 F-250 super duty gas powered, starter won't engage to crank sporadically.

Sometimes it cranks, but most times it turns on dash lights, etc., but doesn't
make any kind of noise (no click)  The battery is new and checks fine.  Even
when the truck was brand new, we noticed a slight hesitation from turning key
before it actually would crank.  We just thought it was the nature of the beast;-)
then.  But now it's like the hesitation is infinite.