06 Tacoma initial crank problem

Suddenly my Tacoma won't crank the way it should. When I turn the key to ignition it just doesn't start. No clicks, no beeps, just silent. Battery is working fine. I did find out through when I hold the key in place all the way in ignition this churning / swirling sort of sound is going on. If I continue holding the key in ignition until the sound evens out (because it wavers up and down) then I let off the ignition and try again, the truck starts just fine. It also runs just fine. But then if I turn it off it will not immediately turn back on again.

Anybody have any clue what could be the source of my troubles? Thanks!