Hi Craig,
Usually if it "fixes itself" the problem will reappear down the road. Yes there is a relay on the main control board that could be sticking. Sometimes people will try tapping on the relay while there is no power to the unit to see if that unsticks the relay. If that works, then you should still replace the control board. If you continue to let the problem go you can end up with more damage to the dryer.
This is the main control board for your model dryer:
Main Control Board - Part # PD00025717 (mfg # DC92-01626B)