1995 Other Jeep Models Occasional no start

My 95 Jeep YJ when taking on trip around town that involves frequent shut off and start up for shopping or what not occasionally will not start. There is full electrical power when the key is turned to the start position (12v) but nothing else happens. The clutch is fully engaged and the jeep is in first gear. The engine does not turn over, there is no clicking sound as if the battery was dead, the stereo starts up. Usually after 20 mins and jerking of the wheel it will start. I believe the problem may be something electrical. I have spent over $800 trying to fix this problem, and the starter has been replaced twice.

thank you, any advice would help