You had to run the car to get it hot, and while the car is running, if the alternator isn't up to snuff, the battery won't get charged and get weak. After the battery rests awhile it may regain enough charge to start the engine. You need to have the battery and alternator checked to find out which is the culprit. The starter is pretty old, as far as starters go. It needs to be checked too.
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