I had a very similar thing happen to me as well.
I had my key in my pocket as I was getting my daughter into her child seat in the back driver's side. Her straps were all twisted. My wife was in a rush, jumped into the drivers seat, started the truck and put it in gear while I was behind her dealing with my daughters tangled straps. I finished up, got out of the truck and they were off.
An hour later, my wife calls and says she doesn't have keys to the truck! She thought they were in her bag, but weren't. That started a "heated discussion" because in my mind she clearly LOST the keys. I insisted she re-trace her steps and find the set of keys she lost. She insisted I was an A-hole, she never had the keys in the first place, and I needed to come get her and the kids.
Fine! I go into the house to grab my wallet, and sure enough, on the counter were my wife's keys. How the hell?? Of course I apologized immensely to the love of my life when we met up with her keys in hand.
I relayed this story to the service manager at the local dealer. He told me that under the right conditions that will happen because manufacturer's don't want to add to a dangerous situation. Specifically he mentioned how it's better for a carjacker to get away with the truck, rather than have the truck disable itself close by and cause a more dangerous confrontation. Not sure if that's total BS, but that's what he told me in the flow of conversation... and seems plausible at least.
As I think about it though, I don't think keyless go is as "locked down" as it should be. And these stories on this thread seem to indicate this is the case.