Q: hard starting

The problem has been going on for a year now. So far what I have found is that if I turn the ignition key 5-6 times and then crank it, 8 or 9 out of 10 times start in 2 seconds. Once started, works smooth, never stalls, and all works as it should. If I do not do the "switch-on ritual" it might take way too long to start. Also, once started, I can drive a few blocks and it might start on the first try, but if it doesn't, either I do the "ritual" or risk to spend some time trying to get it started. 4 mechanics have seen it, none has been able to find the problem. The scanner does not show relevant codes. So far, I have changed, the camshaft and crankshaft sensors, the knock sensor, the fuel pressure regulator. From the 2 crankshaft sensors, the one on the tranny side I was told is working fine. I suspect of the fuel filter but all the mechanics have told me it's not what causes this type of issue, apparently engine should not work fine if the filter is clogged. Or so they say. Thanks!

My car has 170000 miles.
My car has an automatic transmission.