I'm a mechanic and have had that happen to me on a Tundra. It has to do with the remote start module. I contacted Toyota about it and they said it was an anomaly in the module and it was nothing to worry about. LOL
I told them it damn sure worried me after it did it several times.
I believe it won't do it with the key in the ignition because it see the theft deterrent chip.
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There will be days when the fishing is better than one's most optimistic forecast, others when it is far worse. Either is a gain over just staying home.