This might be too simple but let me work it through for you. I am a bit more familiar with older Ford equipment and the 2001 might be a little fancier, so adapt as necessary.
The starter relay (aka solenoid, very old-fashioned term akin to “condenser”) has a heavy-duty input terminal that should go basically straight to the battery, a heavy-duty output terminal that should go straight to the starter, and one, two or more small terminals. One of those small terminals goes to the ignition switch. Ignore the other ones for now.
When you close the circuit by turning the key, 12V goes to the small terminal and through it, the relay coil and the frame ground, closes the extremely heavy-duty (600-1000 amp) relay terminals. This lets the current from the battery terminal cross to the starter terminal and fire the starter. (Whose circuit is completed by the grounded engine block.)
I’ve never seen a starter relay burn out in a short time. It sounds like it might be being triggered by a short or faulty connection on the ignition line, maybe while driving, and continually opening and closing and thus burning the contacts.
You need to define the failure here. With the truck off, there should be 12V only at the battery terminal. There should be 12V (more likely 9-10V because of the cranking draw) at the starter terminal while the truck is cranking, but 0V otherwise. You should able to detect 12V at the ignition terminal whenever the key is turned to the start position, but 0V otherwise.
If you detect 12V at the starter or ignition terminal any other time, something is wrong with either your starter control wiring (from the key to the relay) or internally to the relay.
If the relay is “burned out” at the ignition terminal/coil level, nothing will happen when you turn the key; you will detect 12V at the ignition terminal but the relay will not click shut (can feel it) and 12V won’t appear at the starter terminal.
If the relay is “burned out” at the relay contact level, it may operate (click, and close) but the bad contacts will only allow a little current through. The starter might hum, or clack from the (actual) solenoid, but not turn, and you will measure a very small voltage at the relay’s starter terminal (2-6V, maybe).
That make sense? Any of that help resolve the problem?