Completely clean fuel SYSTEM.
NO GAS PISSING CARBS, fuel levels EQUAL and CORRECT in bowls.
Dwell and timing DEAD ON with clean points and good condensers
Known GOOD plugs gapped to spec w/ no deposits
Coils and wires that don't arc/leak, new or tested good plug caps
Fully charged battery
Properly functioning charging system
Compression within spec for ALL 4 cyls.
Valves set to spec and cam chain tensioned correctly
Chokes adjusted in unison to open/close simultaineously
Fresh fuel helps.
My k5 will usually start warm with about 1 revolution of the crank
but that's with the button. The starter turns so briefly, you really
have to listen for it. What you're asking for is possible, but more likely to happen with a warm engine. just my .02
PS.....cleaning ALL electrical connectors of the entire bike's wiring
goes a long way in ensuring good voltage to everything, which includes/benefits the ignition system.