Hi Mike,
My 2001 never failed to start but it did have trouble starting.
Background:
My SES light has always been on and off. On for about a year due to rear O2 sensors. I had changed one cam sensor due to a code.
Last year, got the recall notice for the gas fill tube. Asked the dealer about a code update for ECU (I have an early model). They said, none available - but I got the car back and no more codes. It still failed to fire on the first turn when starting sometimes - one of the coils finally failed last week, replaced it and now it starts fine.
I would recommend scanning for codes. If there are none, without the CONSULT system at the dealer, it will be hard to figure out where the problem is.
Hope that helps,
-Rich