My Father's Ford Escape had this problem for years. Finally chased down the ignition switch gremlin.
In my 1970 Buick, this will happen, and it's a mechanical transmission gear selector issue. If you burnish the contacts by going through the gears (auto on the column) it will start up in a nanosecond. But otherwise, it's like trying to start in 'drive'. This of course is not your problem, but I mention it to illustrate the wacko things that can happen that aren't the battery.
Driving and working on a Sly 2008 Solstice GXP 5spd 260/260, and the worst-built 2012 LS3 Camaro 1SS to escape from Oshawa.
Gone but not forgotten:
2007 Solstice GXP 5 speed 290/340
Stored and needing to part ways with a 1970 Skylark Custom convertible I have owned since 1989 and turned into a GS455 clone. 462 with 7/8 primary headers, adjustable roller rockers, TA Performance Stage 1 aluminum heads, auto, Chevy 12 bolt, 3.31:1. Sadly a project car now but a driver from '89 to '06.