For future reference…Just because your lights and radio work…a non-start problem could still be the battery. Starting a car requires HUNDREDS of amps…while running the lights and radio only require MAYBE 20 amps.
But I don’t think this is a battery problem because you’re able to start it after a little while. Batteries don’t fix themselves.
Sounds like the car has a built in Security system. It could be this or it could also be the ignition.
It’s difficult to diagnose a problem like this over the internet. Instead of going to the dealer…find a good independent…should be cheaper. There might even be one in your area that specializes electrical problems.