I just noticed my 2018 Honda Clarity PHEV Touring Model doing this very same thing yesterday, Wednesday, 8/5/2020. I was driving home from an appointment and we had just had a severe thunderstorm pass through the area and it got very dark outside for about an hour. But when I came out of my appointment to drive home it was midday and mostly sunny. As I was driving I noticed the Headlights On indicator. I always keep the Lights Stalks control in Auto. I switched the Lights Stalk control position to Off for a few minutes while I was driving and then switched it back to Auto. When I did this the Headlights Indicator did not come back on. I will continue to monitor this over time and if the problem continues I will return to dealer as the vehicle is still within warranty. I suspect it might be a failing or failed sensor.