It has occurred a few times when I pulled into a parking lot and turned off the car with the wheels still turned that the car will not turn over when restarting.

Must be a security thing but it is obnoxious that I have to turn the car to “on” and then turn the wheels straight before it will crank over

Anyone else have this happen or is there a fix?

 

Are you sure the engine was trying to actually crank? Sometimes when the wheel is turned, it's "locked" and prevents you from starting. You have to kind of turn the wheel in the other direction just a bit to relieve the pressure and then the key will easily turn. Might be what you're experiencing here.

 

This.
You can't turn the key with the steering lock engaged.