What could be causing my 1996 chevy pickup to be so difficult to start.

I have a 1996 chevy siverado c1500 with 174k miles and am having trouble starting it. It will crank over but won't start. If I wait a few minutes it will start right up and will run good and start up without any problems. Once it starts, I can shut it off and on and have no problems the rest of the day. It doesn't miss , hesitate or backfire, and idles good. I have replaced the fuel filter, sparkplugs and sparkplug wires but am still having a problem when I try and start it the next day. I do not have a "check engine" light come on, but something is making it fail the yearly inspection. I did not check the fuel pressure with a guage but the fuel pump seems to be working ok.