If you don't mind me asking... What do you mean by "the starter contacts were fine"? Did you open up the solenoid and look at them? (if so did you change them?)

I'm gonna risk pissing off a few others here, but just because the starter will spin on the bench does not mean it will produce the torque to spin over your engine. Could be a starter problem but if it is an OEM Toyota starter then chances are it is just the contacts. The starter will likely spin on the bench with bad contacts, will not start the truck as the connection is weak through the solenoid. (think loose cable type of bad connection)

Of course it could be a bad connection anywhere in the circuit from battery to starter to ground, and likely many other things as well.