Turning the key does not crank the vehicle. It has full power, headlights, windows n such. Battery terminals were corroded, I cleaned them thoroughly. I took out the starter and had it bench tested at Advanced, no problems there. Only one fuse was blown in the IPDM, 49 I think the ECM yellow 20 amp. Replaced it and still nothing. Relays are hard to remove, I destroyed R4 by accident but replaced it with another one. I'm really at a loss here, and this is my only car right now. Any suggestions would be appreciated.