Why would truck say "No key detection" when keys are in hand?

I have a 2017 F150 Lariat Crew Cab
24k miles.
Got in 2 wks ago and got the "no key
detected". Got the spare set, same
thing.  ALL batteries  new in fobs and
vehicle. Will not start with key
receptacle under cup holder.
Unplugged truck battery and let sit for
hour per dealership. Started right up.
Brought to dealership 2 days later,  no
codes,  no rhyme or reason.  Greased
up wiring harness,  said it was likely a
one off. 5 days later,  happened again.  
This time 2 hrs after removing battery
it finally started.   I can't trust that this
truck will start when I go to leave.  
Back at dealership now,  checking
computer again,  still can't find any
reason.  They've not mentioned
anything about reprogramming keys or
why there is no communication
between key fob and computer.
Any issues like this come up with
anyone else?  I feel like I'm doing more
research than the dealership is but I
can tell you its not a battery issue.
I can start the truck from inside house
with remote start but once in truck, you
can move shifter. Truck will stall if you
put foot on brake