5.9 Ram Cummins Hard Start

My 2007 Ram Cummins developed a hard start condition where it would start, ever so hesitantly, then die after 3 seconds. The first time this happened it set off my horn (solid honking for 1.5 minutes). When I checked the batteries, driver side was 12.6 and the other was 11. something. After charging up the battery it worked fine. Then it happened again. I replaced the battery. Worked great for a few weeks until it happened again. Started digging more into the cables (none looked overly corroded) and found what the video shows.
I apologize for background noise. I typically have kids all around me when I work on any project!