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Huh. I've not experienced any hesitancy in getting underway in cold-start conditions, but give me another month or so. At home our M4 is parked in a heated garage, driven 5 miles and parked outside for an hour (daily morning walk in local park). It goes as it should, in both cases. We've not had cold conditions yet; winter's still young. There'll be days ahead when it'll be parked outside and started below 0°F.
FWIW, I always use Auto Hold, so the parking brake offers some resistance to overcome. With practice I've learned to listen to the drop in exhaust note to sense when that threshold is crossed, so I move underway smoothly, like buttah.
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