The Cam can bleed off cylinder pressure but when the lifter sit long enough they bleed down and all bets are off.. Compression goes up..
first place you should look is the battery and confirm that it is strong enough to get it going initially.. A load test will confirm it's integrity, Any Auto Zone will do that for you.. if that passes then I would check for voltage drop across the positive cable down to the starter.. If that's not too high then maybe look at the possibility that the starter is drawing too much current.. many things can cause it and when we don't know the complete build of the bike it's hard to give the correct advice without diagnosing...

 

I have a similar gremlin in my ‘23 Heritage. About once or twice a year, it sluggishly cranks the engine over. The next start, it’s fine. And it will stay fine for months.

But we do have an interesting difference. Mine will trip the check engine light for a low voltage fault. You don’t describe that. There may be a clue in that. I’ve never set my clock, so I’ve no idea if that would reset.

I have wondered if it’s related to longish storage. For I think it follows the bike sitting for a bit. But not always, and it starts right up the second time, which often comes only a minute after the first feeble start.

I have found nothing loose or corroded or damaged.

One thing I do wonder about, from my old TC88, is the compensator. I accidentally left it loose once, and the engine had a chronic stall and sluggish crank over on the starter motor because of this. When I change the primary oil I’ll check this.

 

My 23 Lowrider ST does the exact same thing. Plus, the clock. I ride it several times a week.