There are a number of things that can cause an intermittent no crank, things from ignition switch, clutch switch, poor connections, bad cables to the starter motor itself.
With you saying that the car does this after driving (Being brought up to temperature) and restarted on its own after sitting I would suspect the started.
But with out doing voltage drop tests and taking voltage reading at the different points in the system, while the car is doing its thing, it’s just a guess.
You could start with the basics and make sure that the battery and the started connections are clean and tight.
Dan.
Canadian "EH"