2000 Toyota Tundra Crank / No Start

I have a 2000 Toyota Tundra v8 4.7L 2x2 that is cranking like a champ but will not catch and start. I have tried replacing the fuel filter but that did help. A friend removed the fuel pump relay and laid a wire across and we heard the fuel pump turn on, tried to start it then but still no start. Went ahead and replaced the fuel pump relay but again, no change.  I ran my code tester on it but the only code it gave me was P0420, catalytic below threshold in bank 1. Pulled spark plug and tested for spark, had spark. Do not have any RPM when trying to start. I have been told all sorts of possibles, camshaft sensor, crankshaft sensor, etc. but before just randomly replacing any more parts, I figured I'd try tossing this problem out on a Toyota expert forum. So anyone here have any advice?

Thank you for any suggestions you may have!

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