I'll start with an easy check (I hope) - how is the condition of the key profile?
Not sure your usage, but over time, the cuts made on the key to raise and lower the lock tumblers wear down with each insertion/retraction. I have seen a key do the same thing, it starts the car, but you have to do a crazy dance and jiggle to get the key to pull back out - it hangs on the internal mechanism.
If you have a spare key, or maybe just another lightly used key - try it and see if it gets stuck. If it is fine, I would go to the dealer and they can cut you another key based off your VIN number (not just make a bad copy from your worn key).
If the key is fine and others get stuck, I would suspect some sort of foreign object in the lock cylinder. Could be anything, lint, dirt, or even a broken internal piece just large enough to lock you up. I would try running a slightly oiled pipe cleaner in and out of the keyway and see it you can't give it a good cleaning. Maybe follow that up with a blast of compressed air and see if that fixes you?
If not, you could try driving it by a local locksmith and asking their opinion if you didn't want to jump to cylinder replacement at the dealer.
2012 Kia Sedona LX