Yes, restart fingerprints service mostly fixes it but only mostly and even that forces you to manually unlock first and remember to restart the service.
I recently had the bug when I had done almost nothing with the phone – I think it was using my Bluetooth headphones with media player. Probably had mobile data on.
My guess is that the Bluetooth service somehow occasionally hangs the fingerprint service.
Is it even logged as a bug? Whilst it’s testament to the quality of the port & bugfixing done over the last two years, I don’t know if there’s an outstanding bug on the 10 ii or other phone as major as this.