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There are two common components that cause this issue here.First is the electronic steering lock itself.It fails to release the lock when the key is inserted and keeps the vehicle from starting like this here as well as this message.I have had to replace quite a few of these.The other is the electronic ignition switch or also known as EIS.In order to determine which is at fault here a scan tool or dealers sds machine is needed to read out fault codes in the vehicle and check the ignition signal.One check I usually can tell easiest by is when you insert your key you should hear a hum or buzz noise coming from about half way down the steering column.This is the lock disengaging.If you do not hear this the lock most likely needs replaced.
The lock can run up to $200 in most cases and 2.5 hours labor to have replaced or around $450 to $650 depending on dealer or shop charges.
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