Intermittent startup problem

I've seen this occur on other Yamaha vehicles IIRC the error code was 12 for crank position sensor however the bike runs perfectly fine once cranked.
I do hear a click from under the seat every time I press the start switch which makes me think the starter relay is working fine (although it's not a guarantee) and often the bike cranks up right away especially if it's warmed up

You can see it in action here
https://youtu.be/dnecUOr0NIg

Anyone else encounter and fix this? I don't want to shell out on a new starter relay only for the issue to still exist. The bike's an 2010 model with 6k miles and this issue has existed for a good couple of months but the bike always eventually starts.
 
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