You have an issue with the key interlock solenoid. When this happens, sometimes you can push the shifter "further" into park and it will release the key. Basically there is a switch in the shifter that tells the computer when the vehicle is in park and the solenoid releases the key. This switch in the shifter sticks sometimes and does not tell the computer it is in park and you will not be able to remove the key.
Next time this happens push the shifter further up (assuming you have the column shift) and see if the key releases. If it does then this is the issue. If not, let me know and we can dig further but this is pretty common on these vehicles.
Images (Click to enlarge)
Friday, February 14th, 2020 AT 8:07 PM