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Here. Remember to set precharge delay correctly on your controller or you will weld contacts shut quickly. This is not a bulletproof solution and you should supervise voltage level during precharge.
Switching relay is not operated when key is turned on but it passes +12V to precharge relay. This should close precharge contactor. Whenever controller contactor output gives +12V to switching relay, precharge controller opens and main contactor closes. Ready to drive.
You can also substitute precharge contactor with Zeva product I linked earlier. Then you could use contactors on both battery terminals to isolate battery completely when it is not in use.
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