Welcome to the forum.
G - goes to the neutral safety switch. The neutral safety switch provides the ground circuit for the coil within the starter relay when in neutral or park.
I - is provided 12v when the ignition switch is turned to "crank". If the ground is provided by the NSS and power is applied by the ignition switch, an audible "click" should be heard from the relay.
S - goes from the starter relay to the starter solenoid. Once the solenoid is energize it actuates the armature on the starter. Once engaged, the starter receives direct power from the battery cable itself.
Now when you stated you used the test light on the G terminal;
Did touching the G terminal with the other end on battery cause it to crank?
Or did you leave the test light hooked to battery +, terminal G, then hit the key (what should have happened if the NSS is weak/inconsistent)
The quickest/easiest ways to diagnose a "no-crank" is to do the following;If at first the car will not crank in Park, move the shifter to Neutral and try it. It's not uncommon that this works with an intermittent NSS.
If that does not work, I would bypass the NSS completely;
To bypass the NSS, attach an alligator ended wire from Terminal G to a known good ground. By doing this, you completely bypass the NSS. If the engine cranks over after jumping the ground, your problem lies within the NSS/circuit.
...If that does not work;
Using a voltmeter or test light, check for 12v on the I circuit while the key is in the crank position. "I" should have 12v applied to it. If it does, check the starter solenoid terminal "S" for the same 12v. If 12v is on I but not on S, the problem is internal within the starter relay.
If I does NOT have power when the key is in "crank", your problem lies within the bulkhead connections, or the ignition switch itself.
...If that does not work;
Some may do this before anything else. While someone is holding the key in the crank position, using a long extension and a hammer, hit the side of the starter. Be careful not to short the extension to a positive cable on the starter. If that works, your problem lies within the starter itself.