I have no problems starting my car without the key in the holder. However unlocking or locking the door with the key in my pocket is a 50/50 most of the time on either side of the car. This happens with both key fobs and new batteries in them. Sometimes locking the car using the button on the key fobs even takes a few tries though it is definitely more reliable than using the buttons on the door. I find that raising the key to window height also helps.

Is this a sensor issue? What sensors should I replace?