Thanks for the advice. Last night I checked the fuel pressure and it was around 50 psig and stayed after the car was turned off. I removed and cleaned the fuel injectors and the car seemed to do better starting but once it sat overnight it had the same trouble starting this morning. Once again, once it was started it ran just fine without any codes. I also tested the fuel injector delivery with a tester. They all delivered the same amount of fuel.
I believe the fuel system is not the problem. I have spark, compression, fuel, air. Could the crank sensor not be working on startup, then the car starts to use the cam sensor for operation instead? I guess I will check that tonight.
Not sure what else to check.