Sounds to me like it might be a vacuum issue. You'll notice that you're engine will idle for about 30 seconds at a high idle, before dropping down. This is because the engine computer does not kick in and take control of the engine right away, it just runs at default values. There's a possibility that your ECU is correcting the issue once it warms up, but something's causing it to run rough without that correction, and that usually indicates a vacuum issue, at least from what I hear from others here.
I'll also point out that I know nothing about the v6 engines, and generally take what I hear from others as fact once I've heard it more than once, so I may be completely wrong. :bonk: