Parked overnight now truck doesn’t start.

[Rawze]

That is good, but the main current carrying load for the starter is a set of dedicated heavy-duty ground and power cables that link directly between the batteries and starter. If the main ground wire(s) between the starter and batteries is weak or corroded somewhere internally .. or even has some excessive tarnish on the connections at all then the problem with the power steering hose getting hot when cranking will be a symptom of that.