The manual has the cold start procedure in it. And lots of other things to help out.
Does your truck have the "Wait to start" light?
If it does, do just that. Let it sit with the key on until the light goes out. If yours is like the older models, It's the grid heater heating the air in the intake manifold to help the engine start. Also plug it in. This will heat the block and help keep the viscosity of the oil down for easier starts. After the first start, the engines heat should take care of those two things, which I think is why you're seeing the easier starts afterward