Mine does it all the time, it has gotten a little better now that I have hooked the auto tune up, but it still does it. Im not too worried about it, it never takes too long to start. Usually when it does it, I just cycle the key, let it sit for a second and hold the start button until it starts, a few seconds longer than normal. Consider it normal, my buddies 07 R6 has done it for a few years now, just the way of the beast. Dont let it bother you too much, hold the start button for an extra second or two, it'll start.
DJ