Airbag light, and intermittent no start

[shakes]

Looking for a little help here , I have 2008 f 250 , all stock , formerly tuned .I have been having a airbag light flicker for a while now, but now stays on after a few minutes of driving, but only for first drive of the day, I brought it to dealer and they want to charge me $200 to reprogram airbag .I thought the airbag was covered under warranty, they say no , anyone have same issue? Any thoughts? Also I have a intermittent no start condition, only happens once a month or so, when this happens I can put truck in neutral and it starts no problem, after it starts in neutral you can start it in park, but until you put it in neutral, there is nothing.any ideas? Dealer can't reproduce problem, and no codes, thanks for reading

[randy48162]

My airbag light did the same thing they replaced the front impact sensor. No more problems.