It happens when your platform doesn't tell Destiny 2 what your parental control set up is - enabled/custom/disabled etc so Destiny defaults to it being enabled. Some games will just continue without the controls, others will quietly keep checking, but Destiny 2 however throws the error message. Could be a caching, networking, service, or Destiny 2 issue, but as you know most of the time it will be fixed by either a game or console restart. One thing to check is if you're leaving the game suspended/in the background (long enough to disconnect from the servers) as that can cause network issues which may be the cause for you.