All lights on dash come on and you can hear the sensors but nothing else
Lots of possibilities, but based on the information you've given, the most likely scenario is that the battery voltage has dropped too low to engage the starter. It may still be strong enough to turn on dash lights, interior lights or even headlights, but those draw far less power than the starter. That is assuming it is not 'turning over' based on you saying it will not start. If it turns over (cranks the engine) normally, but still will not start, then that is different. The gear shift on most vehicles will move if you have the key turned to the on position, but I cannot be positive about a 2004 Envoy, so that part seems a bit odd. The steering wheel should be unlocked when the key is in the on position, so that part is normal. If it is a battery problem, that could have been caused by some other issue (failed alternator, for example), or could have been as simple as lights being left on. I hope that helps.
SOURCE: 2004 GMC Envoy has trouble idling
Try the fuel filter. Sounds like the engine might be running rough due to weak fuel pressure. Its cheaper to replace, especially if it's still original from 04. Try running some injector cleaner through a couple of tanks of high octane gas.
SOURCE: the gear shift on my 2004 gmc envoy does not move from park.
cheak the brake pedel swich it work a swich in the gear seleter
SOURCE: 2006 GMC ENVOY starter not turning over, with ignition switch on.
the ignition switch is a problem with these vehicles so that would be my first call.
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