Had this plenty on our Model S but nothing so far in MY.
Is this MCU2 I take it
@Zilla91 ?
If it is temperature related, it could simply be that the MCU is throttling badly because the CPU / iGPU are hot
and until the a/c is running, it's booting up with only very warm air to pull in. I believe this was pretty common in the Model S - service techs knew about it, but nothing they could do about it and replacing the MCU for another of the same vintage was just a matter of time not if for the issue to come back (fans would draw in dust etc. over time).
Failing that it could be lots of things, but a full power off / reboot followed by deep sleep would fix anything software related (i.e. stuck errors or failing to clear a cache) that can be fixed without a SC visit.
Edit: my bad - I'm forgetting that only MCU1 was air cooled. Both MCU2 and MCU3 are liquid cooled. It may still just be temperature related, but could be that until the cooling system has caught up, it's booting up warm in this weather we're having or something else is up.