You may have just been lucky because it is a common problem. I have owned the following and every one has had the problem especially if they sat for a week or two:
2006 300 SRT8 (sold), 2009 300SRT8 (still have), 2008 Challenger SRT8 (sold), 2012 GCSRT8 (sold), 2008 Challenger SRT8 (still have), 2015 Hellcat Challenger (still have), 2018 Trackhawk (still have) and 2009 Dodge Ram (still have).
All the above were purchased brand new and obsessively maintained. The 2009 300 SRT8 and 2009 Ram both have over 70K miles and have been driven hard. They still exhibit this problem a couple times a year and run flawless. I have noticed driving the car for longer periods of time before letting it sit overnight appears to lessen frequency. Some have also claimed this condition lessens after the motors are fully broken-in and the rings are fully seated. Again, if the OP is seeing this every-time they start their car that is not normal and should be looked at by the dealer. However, if this is a once a month thing I would not worry at all.