Why does my garage door opener sometimes require two presses?

I've noticed that my garage door opener occasionally requires two presses to operate. At first, I thought it was just a random issue—maybe I wasn't pressing hard enough the first time. However, I've figured out that when I use the same remote (like the car remote, inside button, or outside pad), it always works on the first press. The problem arises when I switch inputs; for instance, if I open the garage with the car remote and then try to close it using the inside button, it *always* requires two presses. But if I use the inside button by itself, one press is usually enough. Is there some kind of rolling code or cipher issue going on here? Just so you know, I've checked and the batteries in my remotes are fresh, and the inside button is wired directly to the opener, so it shouldn't need a battery.