Hesitation at start up

I have owned my 2001 M5 for 7 years. It has always had a little hesitation to throttle input when first started in the am. Recently, the hesitation lasts a little longer and more pronounced, but is gone in less than one minute. Fuel filter and air filters relatively new. New spark plugs at 60,000 miles. Car now has 68,000 miles. Only problem I have had with the car is several repairs related to the service engine soon light being on. Any thoughts?

Vis be the thermostat... Just changed mine ...

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What kid of codes you have? I could be map sensor or iat but it needs to be read by good diagnosis computer to find this type specific problem