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If it doesn't start until it's warmed up then it could be a leak in the cooling system making steam. I have oil leaks everywhere and they've coated the exhaust. Anytime I scrape some off it'll smoke until it gets coated again. The oil seems to burn off but leave all the dirt that sticks to it on.
Quickest thing would be to stop once it starts smoking and look under the hood to see if you can tell where it's coming from.
Rezvani's Latest Post-Apocalytic Monster Is a Ford F-150 Raptor Underneath
Slideshow: Called the Fortress, the 850-horsepower pickup combines Raptor underpinnings with military-inspired features, survival equipment, and a starting price of $285,000.