I have the exact same issue. The only workaround I've found is to release/change lens.
When you release/change the lens still you have to turn it off what is a sufficient workaround.. or you mean that after that problem doesn't appear for some time?
FYI Guys...
For a different reason I had to send my camera to Nikon support, but I wasn't able together with the lens. I mentioned also about this problem in the support request, added a link to this forum, this thread. Lets see what will be the feedback...