Search for 555 timer circuits that drive a relay - eg
circuitdiagram.org - time delay relay. Note that the relay coil has to be less than about 180 Ohms. Some circuits add a diode between pin 3 & the relay - line towards relay (86).
The 1M can be changed to a pot or trim pot (variable resistor) to adjust the time.
As per the text, the resistor and LED are optional.
Usually a 10uF and 0.1uF cap between + & gnd (ie, between pin 8 (or 4) and pin 1) would be added to prevent spurious triggering, but for a simple on-off delay the can be omitted - it's only in astable mode (cyclic switching) that that's required.
Or get a DEI 528T (timer relay).
Get a GM rear defog relay / timer from a 80's-mid 90's era GM. Does exactly what you want, in a compact, inexpensive, self-contained unit. In this pic, the relay is in the upper left, the dash mounted switch in the lower right. This set-up looks like its from an F-car.
I found one of these Defogger relays in my stash. GM P/N 15554520. I found several available online. I took it to the bench and got it to work. Here's what I found. They have 5 terminals that are labeled on the relay:
L = Output
B = B+ Hot at all times
G = Ground (-)
I = Ignition. Must be +12V for relay to energize, if removed, relay turns off.
P = Control. (+) pulse turns on, (-) pulse turns off.
Note: Relay times-off after appx 10 minutes. If pulsed back ON during same ignition cycle, next timed interval is appx 5 minutes.