Avensis 2.0 Petrol Vvti Cold Start Problem

[Illusions_notts]

Hi, i have got a avensis 2.0 litre petrol on 2002 plate with vvti engine. Few weeks back the car is giving problem. When the care is cold it won't start at all. Engine cranks but it won't start. Then after 10 minutes of kept trying the engine gets bit hotter and then it starts straight away. It had been to main dealers aswell and they can't sort the problem out. They did changed all the sensor like crank shaft etc. but its the same problem. When the car is warm then no problems. Does any1 know what it could be? thanks!