Had similar experience.
When cold engine will crank and fire up , no issues , take it for a drive or 30 mins , stop , then go back to car with in say 10 minutes
and engine cranks but will not fire.
Ive actually had this issue since almost new but it only ever done it every 6 to 12 months , didnt really do anything about it.
Mine is MY08 , so I had battery changed about 2 years ago and still did same thing.
The last 6 months it has developed to do it all the time while the engine is hot, you could sit there and just crank and not fire.
I learnt quickly if you keep pumping accelerator or hold it flat to the floor it would fire up but even this technique was starting
to fail.
I even had the crank angle sensor replaced which did absolutely noting.
The way it sounded when cranking to me suggested slow crank so either battery or starter motor.
So was time to take to VW dealer to diagnose , They put it down to bad battery but it was only two years old , I asked them
to use power pack to help jump start and still had trouble firing , so we concluded starter.
Booked in , around $550 for starter and $150 for labour , searched internet, starters way cheaper but just didnt have the time
to deal with it , so now have new starter and you can clearly hear the difference with faster crank and firing up.
All cranking when hot now solved.
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