Ditto with others' suggestions given. When you install a relay & fuse, a good practice for insuring the power gets to the pump, is to solder the terminals to the wire. A bad crimp will show up at the most inopportune time.
As for losing voltage from the battery post to the pump, every connection from post to terminal to wire, etc., has some resistance. Plus the wire itself, as mentioned, if smaller gauge. Across every connection, a minute amount of voltage is given up. Hence, a volt is lost, usually as heat.
To see the voltage lost in a wire connection, measure from the power source to the end product, ie., pos battery post to the starter armature. You'd be amazed at the voltage drop. Shouldn't be less than 0.4 vdc.
Plus too, the pump may be going south, as in needing repair, brushes, armature turned, bushings, etc., or replaced. It is a DC motor and draws a good amount of current when pumping, especially under pressure.
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