I doubt if any connection came loose just sitting there. It most likely is either a bad battery, or simply a loose connection between the battery terminals and the cables that run to it. The ticking sound usually means low current (amperage) at the starter solenoid and in my over 50 years of auto and truck repair, I'll bet 90% of these problems come from a loose battery terminal connection if the battery has been removed and charged.
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2000 Winnebago Adventurer 37G V10, 2005 Ford Freestyle and 2008 Ford Escape Toads.
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