Does it free up if you move the steering wheel? If you bind up the wheel when parking, it will sometimes do this. I found it was always best to park the car with the wheels pointed straight.
There is a lock plate inside the steering column. When you remove the key, a pawl engages that lock plate. If you park with the wheels turned at an angle the mechanism will bind up. You must turn the steering wheel a bit to free up the mechanism so that the key can be turned. IMO, what you are experiencing is normal. Normal yes, desirable, no. But there is no "fix".