I'm sorry, I missed the part in your first post where you said you jumped the vehicle and it didn't help. So just ignore my last post.
It does sound like your ignition switch may be the problem. Try to start the truck in neutral - if wiggling the shifter around in neutral does not help, then probably the park neutral safety switch is not the problem.
At this point, it could also be a couple of relays, but because wiggling the ignition key seems to work, I would lean towards the switch as the problem. Here is the parts diagram:
http://www.courtesyparts.com/-c-4700_47 ... _4886.html
Scroll down to year 2002 - 2004. This is a pathfinder diagram, but your part is the same. Part 48750 is the starter switch. That is the electrical part of the switch and can be replaced separately - not that expensive.
If the lock cylinder assembly has a problem, then you would need part 48700 which is more expensive, comes with a new keyset, and will have to be programmed at the dealer. Probably worth trying the switch first just to see for sure.
You could also order the starter switch at Rockauto.com for about 30.00 + shipping. Its under Electrical switch and relay, starter switch.