I had the same hot/warm start issue with my 1989 300E with 95,000 miles. I changed the spark plugs and it got better. Changed the fuel filter (has only been changed once) and now it starts on the first try everytime without hesistation. Also, I did noticed a significant decrease in mpg's and started to smell gas. Turns out the rubber fuel hose from the fuel filter to the metal gas line was cracked and leaking. Ordered the special fuel line hose online for about $22.

I thought your oxygen sensor may have been defective but you said your car recently passed a smog test. I would, however, still suspect the sensor since it does regulate your air fuel mixture which may be running too rich at times.

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1989 300E

2005 Acura TL

2011 Hyundai Elantra Limited

Swing hard! Take chances!