A4 starting problems
 

So here's a detailed layout of my issue. My car(1996 A4 2.8 Quattro 180k miles) likes to not start after driving around. On a cold engine it starts perfectly on the first try. But if I drive it around and then park on a luke warm engine, then try to start it again a few hours later it won't start up. Cranks and cranks but notta. If I let the engine cool completely down after say...5 or 6 hours it starts on first try. When it does act up and I crank on it until it will start(5-10mins), it acts like it doesn't want to run...then a minute later clears up and runs like a champ. It has to be something simple and somebody has to know the fix for this...it's driving me crazy trying to find a answer for it. Please help a fellow driver out :/