Sounds like a dodgy/sticky relay to me too. You can test all your relays manually if you make a lead with a female relay plug on it , power them up manually from your battery to the loom you make for testing , you can then test them with a multimeter to see if they are operating straight away or sticking.
Or , it could even be posibly that its gettin to the point where you battery is getting low . The highbeams draw alot of amps and draw off the alternator & battery , running your highbeams for a while could of drained your battery badly, soon as u switched back to normal beam the battery might of been too low on amps to run the accessories/ignition system and normal beam again - and has to charge the system battery for a brief few seconds before the main headlights start drawing from the alternator with the battery too - sorta like its brieflly charhing the battery before it is loaded up again before its doing anything else , a possibility ? ..
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