Ford 7.3L Power Stroke (1999-2003) :: 2002 Truck Occasionally Won't Start

So a few weeks back, i went to the store after work, came out and my truck just cranked and cranked but wouldn't turn over. I simply turned the key off and back on, waited for the WTS light to go out and she started up. I just blew it off, thinking i didn't wait long enough to start it.

Then, later that week i come out of a restaurant and it cranks and cranks but doesn't start. i tried turning the key off and on, waiting 30 seconds between em and still nothing. Then a few minutes later, i try again and she fires up, no problems and runs like a champ.

Well 2 fridays ago, I go out with some buddies, go to leave and it happens again. Cranks and cranks, but not starting. I got a ride to my place, grabbed a fuel filter, thinking maybe its clogged, it's been awhile since i changed it. I got back to my truck, and it started up fine, without changing the filter.

Then last night as i am out of town, 10 hours away from home it happens again. And i kept trying and trying and trying but it never wanted to start. I was about to submit my payment for the Uber back to my hotel when i decide to try it again and it fired right up.

Now I'm kind of afraid to drive anywhere and shut off my truck in fear of being stranded. What could be causing this? I've looked every where and havent found someone with the exact same problem, usually when i find a thread on turning over but not starting, the truck dies once it runs as well. Mine doesn't. when it starts, she runs great.

No smoke coming out the tail pipe when cranking.
WTS light comes on and off as it should.
Tach does not move, and it won't because it's a 2002.

Where to start, would the CPS cause it to act this way? It only seems to do it when the engine is warm.