I have experienced this issue as well. It rarely occurs, but in my 8,000mi this year so far, It's hard started 3x. I had a maintenance appointment for something else and had the dealership look into it... they found nothing wrong, no surprise.
A few days later, I decided to see if I could force replicate the issue. I drove it for 15-20 minutes, put it into the garage and plugged my scanner in. I start/stopped the car a few dozen times until it hiccupped with a hard start. The scanner showed a P0016 code (crankshaft/camshaft timing misalignment). I cleared it, and repeatedly start/stopped it again for about 30 more tries. No luck on a repeat, and that was about 4 months ago and I haven't had the issue happen again. Further, Dodge pushed out a UConnect OTA update a couple of weeks ago, so this too may have updated things as well. The update was tagged as a "quality of life update" with no specific details as to what, and I haven't researched it to nitpick for details.
My guess is that my issue was likely something to do with the cam position sensor not sending a signal prior to engine start, which causes the delay in firing. I've seen this with the fuel pumps as well. It's almost like the PCM runs ahead of its peripherals and sends the command to the starter before the fuel pumps fully pressurize the system, or in this case, the cam position sensor communicates with the PCM. To send a signal to the ignition system, everything has to pass. If something doesn't pass, the car won't send spark. Without having seen the code, I'd bet that there's something like an IF ALL = PASS then goto [object for completing ignition sequence], ELSE goto... [instruction that redirects and repeats the startup sequence]. In lay terms, it would read like:
<Driver pushes the start button>
PCM/TCM - OK, let's start the car guys!
<PCM directs attached modules to perform startup tasks. Everything starts sending its ready to go indicators per the startup script in the PCM firmware>
PCM: And, starter, you're cleared for go!
<Starter kicks over as the PCM quality check fails 1 or more criteria for ignition>
PCM: WAIT!
<Car begins to hard start or idle start with no spark>
PCM: Fuel check?
Fuel pumps: READY!
PCM: Crank and cam sensors?!
CS/CPS: CHECK!
PCM: OK, STARTER NOW you're clear to start! <starter achieves full power and car begins to turn over normally>
PCM: Ignition, you are go!
<Car starts>