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2002 Tundra struggles to crank

My 2002 Toyota Tundra with approximately 90,000 miles has a hard time cranking after it’s been sitting in the hot sun all afternoon. It has no problems in the mornings or if it was recently cranked (i.e. after shopping for a bit). It makes a sound like it wants to crank but takes several seconds to “catch” and turn over the engine. Any ideas? We replaced the starter, changed the fuel filter: no luck.