I have a similar problem, on occasion
If I insert the card while powered up it states "Card Inserted" though I can not read the SD
If I insert the card then power up I can read the SD with no problems.
I have never found the problem and always insert the card before powering my 3D Printer.
This is on Marlin 2.0.6 using a Arduino Mega 2560, ramps compatible controller.
Computer Programmer / Electronics Technician