After parking the car at work today, 9 hours later, I drive home with no issues, AP and TACC working just fine. I did go into the Service menu and checked under Notifications for error messages, the only thing I saw was "UI_a114 Driving visualization temporarily degraded, Features may be restored on next drive" which is the same notification I saw at 7:44 AM (25 min after leaving home) and again at 5:44 PM (25 min after leaving my office). Same notification but AP and TACC worked on the way home no issues.
Seems somewhat random to me and I would believe it's a software issue, I received no software updates while the car was parked in that 9 hour window between AP not working and AP working.
Guess I will cancel my Tesla Service request.