It's a common issue - nothing to worry about unless it becomes excessive.
IIRC the fuel rail doesn't depressurise on switchoff so a small amount of unburnt fuel may be leaking past the injectors when the car is left standing.
Also the initial mixture for starting will be very rich and if a cylinder doesn't pick up immediately then that will also cause unburnt fuel to pass into the exhaust system & give a smoky start.
Ever seen those big radials on old airplanes start up & pondered on the amount of spluttering, smoke & sometimes even flames as the cylinders lazily start firing in their own time?
If the spark plugs are worn, this will make the problem worse.
From personal experience, fitting new plugs will usually improve or fix this, and the issue is noticeably less if you fit iridiums.