I meant, after I didn't close the door fully, the lights
and radio still work but truck will not start. Also
there has been beeping for a couple of days.
Might be a low voltage on the battery. Did you have the battery tested yet?
What year make and model? Some newer vehicles will shut down or most accessories will stop working if the battery it totally removed without using the saver tool. From what you have described I suspect that the anti thieft system has been activated. Check the owners manual for disarm procedures. HTH