2001 Infiniti I30 car hesitates when first started and taki

I have a 2001 Infiniti I30, 106000 miles. I had the regular services performed and am noticing the car hesitating when I first start and take off. After a minute it runs fine and has no more problems and rpms are fine and steady. I had the sparkplugs changed @99k. I tried pulling codes no luck, tried seafoam no luck, checked battery and hoses nothing. Any help is appreciated