First time seeing this thread and
@thompsoj22 said on the first page what I was leaning towards. What module controls the starter- PCM? BCM?
If it never happens when cold, I'm wondering if you have an intermittent open circuit in whatever tells the module to disengage the starter. At first, I understood it as the engine firing up like normal but the starter was still engaged. Then later it was said that it cranks for 5-6 seconds and doesn't start, but then cranks and starts just fine on the second try. It's been a long day so maybe I'm mixing up some details.