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spontaneously? it could be the headlight control module (black box under the passenger side headlights) or the multifunction switch (in symptoms i've yet heard of.
Ah, your problem is mechanical more than likely. Remove the black headlight trim piece and painted cover and look at the lifting arm and hinge while someone else operates the headlights. I bet you will see the lifting arm stopper is not in the correct position. You could probably fix it by tightening the nut that holds the lifting arm to the motor.
I know they had problems with model year 2000 like mine. Very easy fix. When the headlight is up, you can see off-white rubber limit stops under the light (two on top, one on the bottom). The one on the bottom gets indented over time causing the problem. Just pull off the bottom white rubber bootie, flip it over and slide it back on.....or just switch it with one of the top two. No need to take the side cover off the light.