Thanks, BSR and Mike for those helpful replies.
As far as I know nothing has changed lately. Voltages are good.
The only slight change is that I'm paying more attention, as I have added a rule to notify email me on system startup.
It's possible this has been happening on-and-off over the years, and I'm just now starting to track it.
It started when I heard my keypad beeping in the middle of the night, and went into the log the next day to see that the system had restarted.
Then I found this thread and saw that this has been happening elsewhere, so I decided to add a rule to notify me when this happens. It seems to happen about once a month. It's not a major problem, and it seems to restore to a function state (and, as other posters have noted, it stays in the armed state after a restart, which is good).
But it makes me worry that something else might be off and that I ought to address it.
I'll keep testing more contact points for 12v. Given that my data bus sends 12v signals to 6 keypads all over the house, I suppose there's always a chance there's a bad wire or splice somewhere in there, but this would be difficult to test.