Hyundai Accent 2007 cranks but won't start for a 5-10min but then starts?

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Hi all, I have Hyundai Accent 2007 and I had few times starting issue. Few times happened when I was waiting in line on traffic lights and few times when was huge traffic and car is in idle(neutral position) and low rpm(Waited for 5-10mins and then started). And recently what happened, I was driving few miles and waiting for a friend on bus stop to pick him up. Car was turned off, only the radio and heating turned on. I was waiting for him 10 minutes and when I tried to start it couldn't start, so I needed to wait for another 5-10 minutes and then started. Car was with two different mechanics, checked two times diagnostics and battery was fine, nobody knows what is the issue. I don't want to waste my money and try to replace every single part. Every answer is helpful. Thanks in advance.