4Runner has trouble restarting after I turn it off

I have a 1999 Toyota 4Runner Ltd with about 175K miles on it. The car has no problem starting from a cold start, but I’ve noticed it has trouble restarting after it has been running. I especially notice this when I get gas. I usually end up pushing slightly on the gas pedal when I turn the key and it starts just fine. I’m not crazy about just taking it to the dealer and asking them to diagnose the problem. Thanks in advance!