Three things come to mind to check before committing to pulling the valve cover. You mentioned it runs fine when warm and even at high RPM so I doubt it would be a valve spring or a VANOS solenoid (although I'd be willing to bet your solenoids fail the test)
1) Scope the cylinder like what @amesser325 said. Look down both the spark plug hole and throttle body.
2) Check the wiring for both the ignition coil and the fuel injector
3) Since it runs fine when warm it sounds very similar to symptoms I had a few months ago. I had misfires on cylinders 2, 3, 4, and 5, so all on bank 1. But on bank 2 I only had a misfire on cylinder 7. It had only been a year since I replaced all the plugs and coils so I was fairly confident it wasn't any of that. The key difference is that I had some catalyst codes and the misfires were pretty specific stating "DME: Misfire impairing exhaust emission, cyl. X" which was code 002B46 for cylinder 5. When you get a chance let us know the exact code you're getting.
If your misfire is the code in #3 then the remedy is to gut the cats and get a tune
1) Scope the cylinder like what @amesser325 said. Look down both the spark plug hole and throttle body.
2) Check the wiring for both the ignition coil and the fuel injector
3) Since it runs fine when warm it sounds very similar to symptoms I had a few months ago. I had misfires on cylinders 2, 3, 4, and 5, so all on bank 1. But on bank 2 I only had a misfire on cylinder 7. It had only been a year since I replaced all the plugs and coils so I was fairly confident it wasn't any of that. The key difference is that I had some catalyst codes and the misfires were pretty specific stating "DME: Misfire impairing exhaust emission, cyl. X" which was code 002B46 for cylinder 5. When you get a chance let us know the exact code you're getting.
If your misfire is the code in #3 then the remedy is to gut the cats and get a tune