I think I saw someone else post about this, but couldn't find the thread. I have a 2021 Palisade SEL and for the last few months, from time to time, I would try to start the car and the lights and all electronics would come on fine, but the engine would not turn over. I could mess with the infotainment, everything else but the engine. I tested the battery and no issues there. After anywhere from 2 to 25 minutes of pressing the ignition button, the car would eventually turn on. Same thing would happen at a stop light when the idle stop-go cut off the engine. I'd be stuck with a car refusing to turn on during rush hour.
Three service appointments and one, "fix it or buy it" later- they found that my transmission switch needs to be replaced. From what I understand, it's what tells the car what gear it's in. So my car would think, "I'm in drive/reverse/whatever, you need to put me in park before trying to start!" even when I was in park.
I'm still not thrilled with the vehicle honestly. 3 recalls, one of which means I can no longer tow (a big factor for my family), and a major electrical problem in less than 2 years is incredibly disappointing. I'll probably be going back to Toyota very soon. :-/
TL;DR: If your engine won't run when you press the ignition and your battery is fine, ask them to check the transmission switch.
Hope this helps someone!