This just happened to me last night after leaving my ham club meeting. I remembered the relay swap trick so I did that when I got home and the low beams worked. My high beams did work, but I couldn't drive "in town" with my high beams on, so I turned the fogs on for the 2 mile jaunt. It was only 9:30 p.m., so it was still a little light and no one flashed me. They came on automatically since it was dark enough. Going down the road (about 1/2 mile from my starting point), I noticed I didn't see any light on the signs from me so I hit the fogs after testing the highs.
This morning the lights came on as normal, and as normal I automatically turned them off and then thought about it and turned them back on to check them and they were on. I turned them back off and drove to work and then checked again. They worked, but I didn't leave them on long enough to get hot. I'll grab a relay after work and keep it in the truck and see if it happens again. Next offense gets the ban stick!