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I've had this problem for about 4 years now, no one has been able to figure it out.
Sometimes the car has hard starts, and I have to hold the key in for a while for it to start up. I noticed it smells like gas right after the hard start.
I noticed that everytime I head over to the gas station and put in gas, the car starts up without an issue. My extended warranty was a waste of money cause everytime I brought the car over to the dealer or any garage they couldn't figure the issue out, and it was costing me $200.00 a pop in deductables every visit.
I'm thinking it has to be some kind of injector leak? Although, once in a while I'd get a message on the screen telling me ignition fault??
sometimes it can be a number of things and more then one at a time. I would start with a cam sensor.Even with no code intermitant voltage fluctuation could cause hard starting.This goes for fuel pump as well, in addition you mentioned when you fill, its fine.Other things possible is the TPS sensor or any one of the dozens of sensors that could be throwing off the computer . GOOD LUCK