2008 Ford Escape ignition

I'm having a problem with the ignition (key?) From the biginning, and the dealer/service department can't seem to correct the problem. When I insert the key I cannot turn it, cannot remove it.I've tried turning the steering wheel, jiggling the shifter, stepping on brake, repeatedly, sometimes for more than a ½ hr. Then all of sudden it works! The last time I was able to remove the key, but it still would not turn, I've since tried the spare key, to see if it continues. This is more annoying than anything else, but it always leaves me in a panic. "Should I have it towed, should I call for help, it's very frustrating, as it happens sporadically. Been going on for 2 years, I can't believe "no-one" else hasn't had this problem. Thanks JK