2004 GMC Yukon Starting Hesitation

I have a 2004 GMC Denali XL with 83,000 miles. When I turn the key to start the truck, there is a brief hesitation where the engine turns over very slowly and then starts. The hesitation lasts about 1 second and feels like a low battery. I had my battery and alternator tested at AutoZone. They showed me the test results and the voltage readings were fine. The battery cables were a little loose however. The guy recommended I tighted the cables and drive for a few days to see if I get a better charge. I have done that and the problem still exists. Any suggestions would be greatly appreciated.