If your starter isn't grounding then I will bet money it's your tipcm. The traces on the box's circuit board get corroded easily.
A 2003 truck does not have a TIPM. Just a PDC and FCM, basically just a fuse box.
Your starter should get it’s ground through the motor itself. The only ground involved is usually for the starter relay, which also usually goes through your neutral safety switch. In most older vehicles the starter relay has to get 12v from the ignition switch when in “start” and has to have a ground through the neutral safety switch to close the relay and allow power to go to the starter.
This may not be exact for your truck because I don’t have a 2003 to look at. But this is a general layout of how most vehicles in 2003 did it so I would start with your neutral safety switch if you’re sure you have no ground at the relay. It will either be pin 85 or 86. One of the two will get 12v in start, and the other should have continuity to a ground or battery negative.