That's not limp mode. Limp mode doesn't kill the engine, just kicks into putt-putt mode.
I have no idea why it would die and then have to wait so long to restart. That might indicate that temperature is involved.
You should be throwing a DTC. Get a scanner and see what codes show up.
Does it bog down (no power) or does it accelerate and then die?
How does the car react under other conditions?
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