Welcome to the Ranger Station.
Take a minute and update your profile so we know which engine and transmission you have.
In 2000's they placed the fuel pressure regulator in the tank.
It is fairly common for the fuel pressure to bleed off when sitting, even though it is not supposed to. So, try priming your fuel system before cranking the starter by:
Turn key to Run (dash lights will test and the fuel pump will hum for 2 sec).
Turn key back Off.
Repeat, turn to Run, wait, then Off.
Again, repeat and THEN crank over the starter.
See if that helps.
IF it does, first suggestion is to replace the fuel filter.
Next would be to check ech cylinder's spark plug and read its condition (black, tan, white, oil caked, etc). That might show you if an injector is sticking open, letting the fuel pressure bleed down.
Another possibility is only for the 4 cyl 2.5 engine.
Only one of the two coils is used during start. The other starts firing AFTER the engine is started. Swapping the coils positions can tell you that is the case, or you can use an extra spark plug to check for spark. Ground the body of the spark plug to the engine bare metal somewhere while you do that test.