My wifes Quest van with 3.5 had a hard start situation that ended up being an easy fix.
Throttle body was filthy, unplugged the electrical connectors, cleaned it up with carb/throttle body cleaner, plugged it back in and all good since.
The electronic throttle bodies have kind of a high idle setting during cranking and if they get dirty they sometimes seem to stick all the way closed.
Good to know. . .