Update. After insisting the starter is bad even AutoZone has tested so many times and confirmed it's good. I bought new...

Try to put it on neutral not park and then turn on the key, if it start that’s mean its the neutral safety sensor has issue. If it didn’t start, the need to replace the ignition switch.

Its the neutral safety sensor. I have the same problem and it got worse the car wont start only if put it on neutral. Need to fix or replace the safety sensor.