Hello, JoshRn86.
Thank you for using Apple Support Communities.
From what I've read is that the bar to swipe to home screen is randomly disappearing and you have to restart to fix it. I'd like to help. Depending on some apps, the bar does initially disappear but tapping the bottom of the screen should cause it to reappear and then you can swipe up. For example, the YouTube app when viewing in full screen mode has this happen.
Also, be sure that you're up to date on the iPhone: Update your iPhone, iPad, or iPod touch
This issue was resolved in iOS 13.2.
Cheers!