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This happened to me today in my '00, right after we got home. Luckily, my wife decided to stay in the car at our last stop so I left it running.
After reading this thread, I tired turning the headlights on. Only the drivers side came up, and I got a click when I turned the key. I checked the battery terminals, the + was snug but not tight. As I tightened it, the headlight went down. I got back in and it fired right up!
2 year old Die Hard Platinum battery, bought/installed at Advance Auto. I should have known to check the terminals.