Could be dirty IAC valve, throttle body needing cleaned. I cleaned both of mine and that stopped the problem
I imagine if it's been fully serviced it's not the spark plugs, but you never know.
Only other thing coud be fuel pump or filter.
Try turning the key to full on, so the dash lights up, but don't actually start it, wait a couple of seconds and start it. If it starts ok, it's possibly fuel pump. I'm sure there's an o ring in the pump that can go bad.
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