I was thinking along the same lines a Kris, (I like the suggestion or air in the fuel) The injector rail pressure is falling off when the car is left for a while, for example leaking slowly past a slightly leaky injector, when you come to start it rail pressure needs to build up to say 300bar to start working properly, this could be achieved by your short period of cranking and slow running, hence starts OK second time.
If the dealer could look at the pressure on the rail pressure sensor (on the computer), after the car is left for a while, they may see a low pressure if they can make it start in this way you describe where the revs don't build up. I guess a "low rail pressure" fault may not have time to register, when this happens.
or maybe just buy a V70
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