Provided the glow plugs are working, then most likely something fuel pressure related.
IIRC kangoos use Bosch injectors which need over ~125bar to operate (Delphi are over 200bar, and not sure about Denso). Causes can be anything from a sticky injector (they can stick open, meaning they let fuel back through the leak-off pipe until pressure gets high enough and they’ll unstick and work perfectly fine), air getting in somewhere, the fuel pump itself, leaking fuel regulator seals (I can’t remember what regulator system Kangoo’s use, but only pressure regulating systems would suffer from this, as volume regulating systems it would actually make starting better), and that’s only if it’s a fuel pressure fault.
It could be something else like not cranking fast enough, faulty sensor….and lots of other possibilities.
If it’s a consistent time period to start, I wouldn’t worry too much, as you could spend lots of money trying to locate the problem. However if it was getting noticeably worse, I’d think about doing something to fix it.