05 Solara V6 only starts on 2nd try

I'm having an issue with my 2005 Toyota Solara 3.3 V6 not
starting on the first try, but will always start the second
time. It'll crank and acts like it's gonna start, but doesn't. I
try again and it starts right up and the belt squeals for just
a second (I never hear belt noise any other time). This only
happens when the engine is cold but has already been
driven that day. For example: It'll start fine when I leave for
work, but after it's been parked for 10 hours, I have this
problem. This is the only time it does it, never the first
start of the day or when the engine is hot. It seems to only
act up when it's been warmed up and then cooled down
for several hours. So, any ideas as to what could be the
cause? The check engine light has been on since I bought
it. I'm unsure of the maintenance history of it, I've only
owned it for a year. It hasn't had a tune up in the time I
have owned it. The only thing that's been replaced is the
belt that broke. It used to squeal and squeak before it was
replaced but doesn't make any noise now, except for
when it starts on the second try. I plan on scanning it for
codes as soon as I can. This issue has been going on
since I bought it.
Thanks in advance for the help!