I did a quick search and didn't find anything directly related.

I went to fill up at the gas station. The gas light had come on the previous night, but I didn't drive more than 10 miles and the needle wasn't even touching the "E" line. I put 5 or 6 gallons in, went to start the car, and it just cranked, wouldn't start. I pulled the key out, waited a few seconds, tried again and it fired up fine.

This wasn't the first time. It happened before when my gas light had been on for a few miles, but it took many more tries to get it started. I know there are some issues on G's with the gas gauge, could it be that I'm almost dry when the light comes on?

 

sometims when my needle is al the way past E and then some it has trouble starting up but it still always satrts up just takes it a second to pump enough fuel in but nothing like yours.... umm i dont know what could possibly be causing your issue i doubt its being being empty since you just put in 5-6 gallons
btw when my gas light comes on it usualy means i have 2 days or so of driving before i have to fill up

 

it may be an issue not even realted to your gas/filling. Did you car start up fine when you first cranked it to leave your house? If it did and then you had a problem cranking it later after your engine has warmed up.. it could be a dirty/faulty MAF sensor (which could be found after the air intake box before the intake piping.)

 

it's possible. but the fact that it has only happened immediately after filling up struck me as odd.

 

Have you replaced a cam or crank pos sensor yet? Sounds like it might be starting to go out.

 

Something I learned when my fuel pump was going bad back in the day on my 87 Ford Escort; the fuel in your gas tank keeps the fuel pump cool. Could be that when your fuel got low, the pump got warm and on restart it hesitated to pump fuel causing the slow start.

Not saying this is it, but just providing ideas. I rarely (especially here in AZ) let me fuel go below 1/4 tank to ensure the pump has enough fuel to keep it cool.