Have you ever changed your IPDM? The next time it happens, I would have someone try to crank it and verify the relay is engaging but the starter still isn't.
You might wiggle your shifter too. Could be the neutral safety switch.
Yeah I swapped it for a newer one a year ago and tried the shifter wiggling a few times with no effect. Whenever the no crank issue happens the voltage stays steady on the dash which is odd. I probably need to use my meter to check that the starter is being sent power to engage since nothing else is helping. Do you think swapping in a new relay might help?