I have a 2006 Lexus RX330 .. I recently am having an issue as my car wont stay started on the first try. But always second try. Is it a relay going out or something else.. I also just recently upgraded my Stereo system with an Android Bluetooth system and back up camera. I used all Lexus approved jumpers and converters and it works well.. I didn't notice this issue until after the installation.

 

Try this:
Ignition On [Not start] stay a few seconds and OFF, do this 2-3 times and then start the engine , if it starts right up then you may have a failing fuel pump.