For the last 18 months mine has done exactly the same thing. I starts on the first try about every 10 times, it always starts on the 2nd try. I've gotten so used to it I just hit it once turn back and do it 2nd time.
My Indy mechanic can't figure it out. My coils are original at 143,000 miles someone thinks it might be the coils.
I would have replaced them when I replaced the valve cover a few weeks ago but, it was another $500 for parts for my 3.0. I can live with it unless it starts getting worse.