In order, I would remove and clean the battery cable connections, both at the battery and at the other end, particularly the battery to ground.
If this does not make a difference, clean and tighten the power cable from the relay to the starter motor.
In the meantime, if you have a voltmeter, check that the alternator is putting out 13 or more volts at idle and above. If you can, with an ohmeter, make sure the cables are ok, especially twist and wiggle them to see if that changes resistance.
If the alt is working and the cable cleaning and connection tightening did not fix or improve it,
I would change the battery. For the last 20 years, every time but one that I have had a slow start issue on a Ford F150, Mustang, or similar setup, a new battery has fixed it.