Youssef
I was a Nissan Guy until the bottom of my Sentra rusted out in 6 years, so my experience with Toyota is limited and will be since mine is a 2017 and will be the dealers problem. A Nissan also had a Camshaft Sensor and the two must be in sinc for proper engine function. The two are identical and so are their ohm ratings. Check various web sites as to where to find it, but with a little visual inspection and logic you will find it if it is there.
I'm wondering if the engine is starved for air when you try to do a warm start. I ask this because I had an Oldsmobile V8 years ago with a two barrel carb, and when you turned it off for a quick errand and returned sometimes the engine would be hard starting or wouldn't start at all because the chock had slammed shut starving the engine of air. If you opened the chock and put an Ink pen down the throat to keep it open it fired right up. Like I said it didn't happen all the time, and mine wasn't the only Olds that did it. I had a similar problem in a Nissan Maxima with fuel injection. The throttle body would do the same thing, and the dealer fixed it under warranty by replacing a part on the throttle body the name of which eludes me. Check your air intake and clean everything with a good quality cleaner. I hope this is of some help. Like I said before, I'm a shade tree mechanic and no expert. There is a Toyota Tech on the forum who uses the name gmantran , and I'm positive he can help much more than I can