Furnace burners wait too long to come on

Sounds like the burners need to be removed from the furnace and cleaned thoroughlyto help with gas distribution if these are in-shot burners they look sort of like an air plane, they have a cross over tube on each side of each burner and if that is rusted up the gas will not distribute evenly from one burner to the next if the pilot and burners go off at the same time then it sounds like you may have some flame blow back maybe due to soot build up in the heat exchanger. Overall sounds like your furnace could use a good servicing