Markov renewal processes with semi-Markov kernel matrices that have matrix-exponential representations form a superset of the well-known phase-type renewal process, Markovian arrival process, and the recently introduced rational arrival process. In this paper, we study the steady-state waiting time distribution in an infinite capacity single server queue with the auto-correlation in interarrival and service times modeled with this general Markov renewal process. Our method relies on the algebraic equivalence between this waiting time distribution and the output of a feedback control system certain parameters of which are to be determined through the solution of a well known numerical linear algebra problem, namely the SDC (Spectral-Divide-and- Conquer) problem. We provide an algorithmic solution to the SDC problem and in turn obtain a simple matrix exponential representation for the waiting time distribution using the ordered Schur decomposition that is known to have numerically stable and efficient implementations in various computing platforms.