Yes. I had noticed that as well for the Model X (2018.48.12.1). Came here to find out if anyone had seen this before and found your post.
Even more "interesting" is that the car doesn't actually need to "move". While seating in the car just press the key fob top for about 3 seconds until the mirrors fold back. At that point PIN-to-drive will be bypassed.
Guess that "someone" forgot to reactivate PIN-to-drive after Summon is aborted / finished ! Ah, pesky software bugs.
Note that it's been more than a month since this problem was apparently reported, as mentioned in some previous posts, but there's been no updates to resolve it.
Turning Summon OFF or turning ON "Continuous press mode" definitely prevents this bypass issue. But considering how terrible "Continuous press mode" is, might just as well turn Summon OFF until this is fixed.
N.