Turn key on, count to 3, turn key off
Repeat 2 more times then try to start.
You are testing if your fuel pressure is low after engine is off for awhile.
Ford computer only runs fuel pump for 2 seconds when key is turned on, that is good for about 10-15psi increase in fuel pressure, fuel pump doesn't come back on again until engine starts or you cycle the key off and on again.
Cold engine needs more fuel to start than warmer engine, that's what Chokes were for on carburetor engines, colder mornings need more choke than warmer.
3 on/off cycles of key would give you minimum 30-45psi of fuel pressure, which should be enough pressure to start if all the pressure had leaked out, fuel pressure in fuel injected system should hold pressure for weeks and months, not hours or days.
If this works then you do have pressure leaking out, if MPG is good and you don't smell gas near truck, then most likely cause is check valve in fuel pump is bad.
This won't effect driving since fuel pump is on all the time when engine is running, check valve only closes when pump is off to hold pressure and prevent gas from flowing back into tank.
Could be another reason for hard cold start but this is just a free and easy test