If you have access to your water heater and some basic tools, a recirculation pump and a smart plug can be life changing.
For about $250 (pump plus smart plug) and an hour or so of your time, you can create a one-way loop that will refresh the water in the pipes and return the cold water to the water heater.
The loop is best located at the place in the house where it takes the longest to get hot water.
You'll have to "suffer" warm water in your cold tap, but using the smart timer to run only the time it takes to warm the water can limit that.