Why is my car hard to get out of park after it sits awhile ?

Sounds like bent or tweaked shifter linkage to the transmission

Yeah I think the ignition lock could be a part of the problem make sure on the column where the ignition is that it's not damaged that could be part of the problem? And like the other reply said it could be something with your shifter lock device on the transmission, on my 2002 Pontiac Firebird you have to have your foot on the brake before it goes out of park I'm not sure but I think there's a little switch to identify that you put your foot on the brake maybe it needs adjusted or replaced on that switch?