Questions & Answers about A maioria esperou no prédio.
Because a maioria is grammatically singular. The main noun is maioria, so the verb usually agrees with that singular noun:
A maioria esperou.
Even though the meaning involves several people, Portuguese often treats collective expressions like this as singular. For learners, singular agreement is the safest and most standard choice.
Esperou is the 3rd person singular of esperar in the pretérito perfeito simples.
Here it presents the action as a completed event in the past. In other words, the waiting happened and is viewed as finished.
Compare:
- esperou = waited, did wait
- esperava = was waiting, used to wait