2009 Toyota Camry will crank/start if off for 30 min

will not crank or start when hot (Arizona)
will start if off for 30 min

Several possibles. Voltage at starter during attempted crank is where to start if nothing obvious.

Heat can affect a worn starter. But more commonly bad connections or cables. First step is to clean battery posts and cables at battery and starter and ground.

Vapor lock?

If it is vapor lock, it’s probably caused by a leaking fuel injector or a weak fuel pump. But that only applies if the engine is turning over but not starting. It’s not turning over, so it’s something electrical.

Have a starter draw test performed.