[jmciver]

There is something missing from your vehicle entry process based on what you both stated. When you remote start the vehicle, before you can drive off (or even put it in drive or release the parking brake, etc) you need to place your foot on the brake AND press the engine start button first. Once that step is complete, the car will be ready to drive off. Based on what you stated, you are missing the step where you press the engine start button.

In my X7, when I get into the car after a remote start, there is a message in the dash that states I need to press the brake pedal and engine start button as well. Once I do this, the steering wheel moves into the normal drive position and my radio turns on (among other things that indicate the car is ready to drive after a remote start). I am on I-step 11/2019.50 if it matters (but I don't think so).