You might have a fuel injector that is slightly sticking once it cools down. On a cold start, there is like a 30 second high idle for emissions to bring the engine up to temp quicker and the injector(s) may not be closing all the way at first.
If you have a scan tool that can monitor misfires, you can check that on startup to possibly get direct which cylinder injectors may be trouble. ECM will store small misfires events without posting a CEL. The more technical way and beyond most vehicle owners is to check with a o-scope the injector electrical amp pull waveforms that will show a sticking injector. '
I would run a concentrated fuel cleaner like Techron for a couple of tank fills before getting too wrapped up in other troubleshooting.