An antenna is said to be resonant when its input impedance is real, so Im(Zin) = 0. In real world this means a half wave dipole is somewhat shorter than a half wave. The thicker the dipole, the more length reduction is required to get it into resonance.
When you only use transmission line theory without correcting for radiation, a full wave dipole shows infinite impedance. But in real world the impedance is high (can be in the kOhm range), but not infinite. You can see the radiation as a kind of transmission line loss (but the loss does not result in dissipation).
Note that a full wave dipole is in reality somewhat shorter to get Im(Zin)=0.
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Dipoles not equal to a nice resonance length can be brought into resonance, but then additional inductance or capacitance is required.