A crank permission system includes first and second permission modules and a crank module. The first permission module selectively generates a first permission signal, based on a first gear range engaged within a transmission, when an ignition system transitions to crank. The second permission module selectively generates a second permission signal, based on (i) the first gear range stored when the ignition system last transitioned to off and (ii) a second gear range of the transmission requested by a driver using a transmission range selector, when the ignition system transitions to crank. The crank module begins cranking an engine via a starter, in response to the generation of at least one of the first and second permission signals, when the ignition system of the vehicle transitions to crank.