Does this happen everytime you do a delayed hot start? Might be some trapped fuel vapor and/or a intake valve that isn't seating properly or fully. Could also be timing, though if it runs and starts OK otherwise, not likely. Bad gas also known to cause this problem.
2000 Dodge Grand Caravan SE
No matter what you fix, there will always be something else to fix..
"Warranty" is just another way of postponing the inevitable.