Jeep runs rough when warm

I have a problem that started to recur now that the weather is warmer. When the Jeep is driven ('01, 4.0 L 4wd) and parked, say to go into a store, when restarted, it runs really rough for a few seconds (probably 30 sec or so). I noticed on start up the temp is over 210, but as soon as it circulates a little and goes under 210, it runs fine. Any ideas on where to start? Thank you to any and all that can help.

I'm wondering if it has something to do with the vehicle running in open loop (memory) when you start a WARM engine before it runs in closed loop (after the oxygen sensors kick in). Could be the O2 sensors are slow in responding? It has been suggested on this forum the O2 sensors be replaced after 100,000 miles.
Maybe one the experts on this forum could weigh in on this.
My 99 Firebird with 83,000 mi does the same thing once in a while and I'm getting ready to swap out the O2 sensors soon.