I've got a remote start on my standard car that I drive in winter. It is impossible to start it in gear. Here is how it works:
When I park somewhere I remove the key and the engine stays running. The engine continues to run until I exit the vehicle at which case it locks all the doors and shuts off the engine. If the car does not shut of in this manner then the remote start will not work. Also if any door to the vehicle is opened the car will not remote start. Pretty fool proof system, its literally impossible to remote start the vehicle in gear unless you climb through a window to put it in gear after its shut off.
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