Will only start when I connect the prongs on the starter

Hello, I'm Danny.

The first thing I suggest checking is the starter motor relay. It's located in the power distribution module under hood. Here is a tutorial showing how to test a relay:

https://www.2carpros.com/articles/how-to-check-an-electrical-relay-and-wiring-control-circuit

I've attached pictures below of the relay location and circled the relay in red for your vehicle. Hope this helps and let us know what you find and we'll go from there. Thanks for using 2CarPros.

So I checked all of the relays and replace the NSS, but it's still not starting without me manually connecting the starters prongs together. Same as before, dome lights, radio, A/C, etc. still works when I put the key into the on positions, but the engine wont turn over unless I crawl under the car and jumpstart the starter. Could it be the ignition or do I just need to replace the starter?

Hello again.

I think you might be having an issue with the starter solenoid. If you remove the starter motor most auto parts stores will test for free. Here are tutorials showing what is involved:

https://www.2carpros.com/articles/how-a-starter-and-solenoid-works

https://www.2carpros.com/articles/starter-not-working-repair

https://www.2carpros.com/articles/how-to-replace-a-starter-motor

I've attached picture removal steps below for starter removal. Hope this helps and keep us updated. Thanks again for using 2CarPros.

Danny-