Jeep Grand Cherokee Starting Issues

I have a 2005 Jeep grand Cherokee. I am
having trouble starting it after it sits overnight
or for a long period of time. When I  finally get
it started it usually works no problem
throughout the whole day for me.  In order to
get it started I have been having to start it in
neutral. When I go to start the Jeep it does a
long loud single click and the alarm goes off
and highbeams flash on.  Most days it only
takes one time of putting it in neutral for to
start other days I’m trying to start it for 20
minutes trying several different times to try
and start it.  I have taken it into a shop but
because it starts with no problem after it
started for the first time of the day it doesn’t
sit long enough with them for them to see
what’s going on.  If anyone else has been
going through this or knows anything at all of
what it could be please let me know cause I
have no clue what I’m supposed to do from
this point on.