To start like a dog (or even not start) one time and then start right up the next (after a short wait) doesn't sound like battery to me! A battery can "recover" by waiting (to some extent) after a heavy drain (like leaving lights on) but that does not describe this circumstance.
By bet is on the starter! Possibly the contacts on the starter relay are going south instead but I think this is the direction you should look.
Best way to diagnose whether the starter is going bad is to check the cranking amps using a DC clamp-on ammeter. Of course, you need to make sure that the battery is OK. If you do not have an on-board voltmeter, pull the battery, charge it fully using a trickle charger and get it load-tested.
Note: You can check the battery tender function with a voltmeter. Assuming you are running at near room temperature, the float (maintenance) voltage should be around 13.6, if I remember correctly.