I have no idea if this relates to your issue, but I have experienced something similar to your description with my ST1.
Oddly, I have noticed if I ALWAYS start it when the bike is stationary, no motion, not touching the brakes, it doesn't not ever have the problem I am experiencing. I do not know if the bike calibrates something when it starts or what, but if I leave it on the stand, start it up, let everything begin running BEFORE I throw a leg over and begin to ride, I NEVER experience the problem (which is very similar to what you are describing).