Old/failing Spark plugs can act that way.
Also leaking valve guide seals will cause cylinder to be oil fouled on first start up.
Cold engine, disconnect coil pack connector, you want a no start
Crank engine for a few seconds
Pull out all spark plugs and inspect for oil fouling.
While spark plugs are all out, if possible, do a compression test on all cylinders.
Low compression will cause your symptom as well.
4.0l should generate about 155psi - 165psi with good battery and no spark plugs in, on each cylinder, sea level to 2,000ft
If it was a coil pack issue I would expect a Check Engine light(CEL) which you don't mention, but the misfires should also generate a CEL as well so you may be looking at a computer problem, but they don't "fix" themselves after warm up.
Long shot is the start of a head gasket/cracked head issue, but you would notice more white in exhaust on start up and a small loss of coolant without signs of a leak, which you don't mention.