Just to add my name to the list of this problem. iPhone 3GS, a few months old, no hacks, standard everthing. Worked fine before upgrade to iOS4, and has been fine after upgrade until I made my first long call today and it restarted three times during it.
My (UK) O2 reception's been pretty poor too, but then it's hard to see a difference there, because that's pretty standard. 😉