2006 Chrysler 300c won't start

When I go to start the car the key turns but the
starter doesn't engage; but if I cycle through the
gears to drive and try to start it in neutral it starts.
It's not the crankshaft position sensor, I have
changed that. It's an intermittent issue that has at
times left me stranded for 20 minutes or more on
multiple occasions. Here's the kicker, if I try to start
it and it won't, I attempt to start the vehicle in
drive(trying to reset any faults) then switch to
neutral or park and it will eventually start with
multiple attempts of cycling the transmission.
What would cause this? Have already tried
dealership with no success