The car always cranks, so I dont think it is the neutral safety switch.Restarting after sitting about 5 minutes could be a bad neutral safety switch, which is a relatively cheap part and easy replacement. I don't know whether that would cause your stalling, though. Does it also stall if you shift to neutral when idling?
Have you removed the distributor cap and examined inside? Maybe it's time to change the rotor and cap.
I will remove the cap later next week and take a look at it.