I have the same engine as you that has now got 3600hrs on it. It starts without any glowplug use within the first 2 seconds on the key. Not once - every time. I had a 3GM30 in my previous boat and had the same start performance. So to answer your question - no, Yanmars are not lazy starters.
There must be something else - I reckon Dieselboy is onto it. There is a bleed-back or slight air leak or something. It's not a characteristic of the engine
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