I drove the 4 or 5 miles to the McDonalds near work and then it started hesitating while I was in the drive through waiting. He did that about 10 or so times in the period of time I was waiting.

It just hesitated badly and all the lights dimmed and it starts running fine, then does it again.

I turned the heat off and drove off. It did it a few more times before I got to work but then stopped.

I went out to my car a few hours later and started it and sat in it in the parking lot. It never really got to be warm and did not do it this time.

Bad spark plug?

 

sounds like when one of my coils went out, finally it got bad enough to set CEL

 

What year is your car? When was it's last tune up?