Rav4 rough start

Hey everyone. I have a 2014 rav4 and it has a very rough startup and idle for about 5 seconds then it’s fine after the engine warms up. It’s been at 2 shops and nobody can find the source. I’ve replaced all the spark plugs and figured I’d post this thread if anyone has had similar issues. Car has 120,000 miles. Check engine light comes on for multiple cylinder misfire.