I just had that problem and it turned out to be security ECU and fob failures. It started with the driver door scenario similar to yours, then the alarm system kept the starter disengaged so I couldn't even drive the beast. I bought a replacement ECU from TideWater Rover and the dealer replaced, reprogrammed with the new fob. All works fine now. Cost a bundle to get it all looked at. Yours may be a fob failure. If it's the two button type, it's dealership only fix.