My toyota Highlander 2004

I have the same problem. Battery is good. Lights & horn work. Starter is not cranking the engine, however if I turn the key to start my car & leave it with that initial pressure & wait, it will start after what seems to be 30 secs or longer. Haven't found the cause, but am taking it to an auto parts store to see if they can read the codes.

This happened to my daughter's Highlander the other day and here was the first solution. Turn key to the ACC on position...pump the gas to the floor 3 times, then turn start the vehicle. This worked once. The second time where the power plugs into the solenoid/starter had come loose...I pushed it back in and it started right up. That one took me a minute to find. I checked fuses and relays before finally finding that.