Struggles to start?

When I start my vehicle listed above in the morning after it sits overnight it starts up perfectly fine with no hesitation. After I drive it for a little while and let it sit in a parking lot from anywhere between 2 to 4 hours, it doesn’t start up right away. It usually hesitates before starting but eventually starts up. If I drive it somewhere else after that, and then let it sit for anywhere less than two hours, it will start up right away. Need help in understanding why my car is slow to start only after sitting a few hours after driving and not when it’s sat for longer periods of time (overnight) or shorter periods of time (30 minutes).

I just reported the issue to my Acura dealer who replaced the battery and unfortunately that didn’t fix the problem at all.