won't crank but battery is good, can't read codes

Taken car to 2 places...neither could help.

I stopped to get gas & when I got back in... my car would not crank (plenty of power, radio comes on, lights are bright, etc). Its like I turn the key and nothing happens. (also, not sure if this matters- but the gas I had just put in isn't showing up on the gas gauge yet). Additionally the car is stuck in Park.

Had it towed- all of my fuses are good & battery is good. But Firestone could not read any codes (error message comes up). But I have taken it there before and they were able to read the codes with no problem.

The week prior- 2 or 3 times I stopped & when I got back in the car it would not crank... but after about 2-3 minutes, it cracked with no problem (during the few minutes before it cranked again...I did fiddle with locking and unlocking the door & cutting the radio on and off... thinking maybe it was an anti-theft system or something. But I do not think either of these were the reason it cranked a few minutes later).

Any suggestions?

If it's stuck in park I would suspect some type of safety interlock issue. ie foot on brake before you can move out of park.