I have not had this issue with the TiVo, but have seen it with other devices Blu-Ray etc.
It is usually due to HDCP or some other painful part of the HDMI spec. The TV misses part of the content protection information shown when a program starts and then will not show it unless the either the TV or Device is restarted.
Next time it happens go into TiVo Desktop and see if you can transfer the show that caused the problem, chances are you may find that show had some extra copy protection added.
Peter.
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