Car stalling while driving, then restarts - 2002 Kia Optima

Usually when a computer controlled vehicle stalls while driving it's related to the Crank Position Sensor.

Fuel Pump / or Filter

It sounds like the catalytic converter could possibly be almost completely plugged up not allowing the exhaust to leave the engine like it should. It just builds up in the cylinder head and when it gets too much in it built up and there's no where to go, it'll stall the engine. By letting it sit for a few minutes, it gives the exhaust time to find a way out and the car will restart.

check your cam and crank sensors.

i don't know what happened to your car just recording what you say,
if you want to know why i think the tool DigiProg 3 may can help you

Most likely the fuel pump is worn out electricially or
binding & stopping mechanically

check for vacume leaks most common problem for symptoms listed its hoses on engine look for dryrot cracked, or broken hoses or lose come off

Has the fuel filter been chg. lately. If it has, maybe a fuel pressure test is in order. Fuel pump might be geeting weak and does not show up until it gets warmed up. Fuel pumps are a common problem on this type of cars.

i would start by checking the spark plugs and leads. if that ok i would think there is a problem with the dispack that the spark plug leads fit to, if its cracked or any rust i would replace.

Have you ever change the fuel filter? if not then try this